id	sid	tid	token	lemma	pos
fcis-32412	1	1	frontiers	frontier	NOUN
fcis-32412	1	2	in	in	ADP
fcis-32412	1	3	computing	computing	NOUN
fcis-32412	1	4	and	and	CCONJ
fcis-32412	1	5	intelligent	intelligent	ADJ
fcis-32412	1	6	systems	system	NOUN
fcis-32412	1	7	issn	issn	VERB
fcis-32412	1	8	:	:	PUNCT
fcis-32412	1	9	2832	2832	NUM
fcis-32412	1	10	-	-	SYM
fcis-32412	1	11	6024	6024	NUM
fcis-32412	1	12	|	|	NOUN
fcis-32412	1	13	vol	vol	NOUN
fcis-32412	1	14	.	.	PUNCT
fcis-32412	2	1	14	14	NUM
fcis-32412	2	2	,	,	PUNCT
fcis-32412	2	3	no	no	INTJ
fcis-32412	2	4	.	.	NOUN
fcis-32412	2	5	2	2	NUM
fcis-32412	2	6	,	,	PUNCT
fcis-32412	2	7	2025	2025	NUM
fcis-32412	2	8	24	24	NUM
fcis-32412	2	9	neuro‐morphic	neuro‐morphic	ADJ
fcis-32412	2	10	hardware	hardware	NOUN
fcis-32412	2	11	for	for	ADP
fcis-32412	2	12	real‐time	real‐time	NOUN
fcis-32412	2	13	embodied	embody	VERB
fcis-32412	2	14	cognition	cognition	NOUN
fcis-32412	2	15	in	in	ADP
fcis-32412	2	16	humanoid	humanoid	NOUN
fcis-32412	2	17	robots	robot	NOUN
fcis-32412	2	18	jay	jay	PROPN
fcis-32412	2	19	pak	pak	PROPN
fcis-32412	2	20	*	*	PUNCT
fcis-32412	2	21	shenzhen	shenzhen	PROPN
fcis-32412	2	22	merchiston	merchiston	PROPN
fcis-32412	2	23	international	international	PROPN
fcis-32412	2	24	school	school	PROPN
fcis-32412	2	25	,	,	PUNCT
fcis-32412	2	26	shenzhen	shenzhen	PROPN
fcis-32412	2	27	,	,	PUNCT
fcis-32412	2	28	guangdong	guangdong	PROPN
fcis-32412	2	29	,	,	PUNCT
fcis-32412	2	30	china	china	PROPN
fcis-32412	2	31	*	*	PUNCT
fcis-32412	2	32	corresponding	correspond	VERB
fcis-32412	2	33	author	author	NOUN
fcis-32412	2	34	email	email	NOUN
fcis-32412	2	35	:	:	PUNCT
fcis-32412	2	36	jayblabla@163.com	jayblabla@163.com	PROPN
fcis-32412	2	37	abstract	abstract	NOUN
fcis-32412	2	38	:	:	PUNCT
fcis-32412	2	39	embodying	embody	VERB
fcis-32412	2	40	intelligence	intelligence	NOUN
fcis-32412	2	41	in	in	ADP
fcis-32412	2	42	humanoid	humanoid	NOUN
fcis-32412	2	43	robots	robot	NOUN
fcis-32412	2	44	requires	require	VERB
fcis-32412	2	45	continuous	continuous	ADJ
fcis-32412	2	46	,	,	PUNCT
fcis-32412	2	47	low	low	ADJ
fcis-32412	2	48	-	-	PUNCT
fcis-32412	2	49	latency	latency	NOUN
fcis-32412	2	50	integration	integration	NOUN
fcis-32412	2	51	of	of	ADP
fcis-32412	2	52	multimodal	multimodal	NOUN
fcis-32412	2	53	streams	stream	NOUN
fcis-32412	2	54	of	of	ADP
fcis-32412	2	55	sensory	sensory	ADJ
fcis-32412	2	56	input	input	NOUN
fcis-32412	2	57	along	along	ADP
fcis-32412	2	58	with	with	ADP
fcis-32412	2	59	adaptive	adaptive	ADJ
fcis-32412	2	60	control	control	NOUN
fcis-32412	2	61	policies	policy	NOUN
fcis-32412	2	62	.	.	PUNCT
fcis-32412	3	1	typical	typical	ADJ
fcis-32412	3	2	von	von	PROPN
fcis-32412	3	3	neumann	neumann	PROPN
fcis-32412	3	4	architecture	architecture	NOUN
fcis-32412	3	5	is	be	AUX
fcis-32412	3	6	ineffective	ineffective	ADJ
fcis-32412	3	7	at	at	ADP
fcis-32412	3	8	meeting	meet	VERB
fcis-32412	3	9	hard	hard	ADJ
fcis-32412	3	10	power	power	NOUN
fcis-32412	3	11	,	,	PUNCT
fcis-32412	3	12	latency	latency	NOUN
fcis-32412	3	13	,	,	PUNCT
fcis-32412	3	14	and	and	CCONJ
fcis-32412	3	15	parallelism	parallelism	NOUN
fcis-32412	3	16	constraints	constraint	NOUN
fcis-32412	3	17	imposed	impose	VERB
fcis-32412	3	18	by	by	ADP
fcis-32412	3	19	on	on	ADP
fcis-32412	3	20	-	-	PUNCT
fcis-32412	3	21	board	board	NOUN
fcis-32412	3	22	,	,	PUNCT
fcis-32412	3	23	real	real	ADJ
fcis-32412	3	24	-	-	PUNCT
fcis-32412	3	25	time	time	NOUN
fcis-32412	3	26	embodied	embody	VERB
fcis-32412	3	27	intelligence	intelligence	NOUN
fcis-32412	3	28	.	.	PUNCT
fcis-32412	4	1	this	this	DET
fcis-32412	4	2	work	work	NOUN
fcis-32412	4	3	outlines	outline	VERB
fcis-32412	4	4	an	an	DET
fcis-32412	4	5	integrated	integrated	ADJ
fcis-32412	4	6	research	research	NOUN
fcis-32412	4	7	study	study	NOUN
fcis-32412	4	8	of	of	ADP
fcis-32412	4	9	neuromorphic	neuromorphic	ADJ
fcis-32412	4	10	hardware	hardware	NOUN
fcis-32412	4	11	and	and	CCONJ
fcis-32412	4	12	spiking	spike	VERB
fcis-32412	4	13	neural	neural	ADJ
fcis-32412	4	14	network	network	NOUN
fcis-32412	4	15	architecture	architecture	NOUN
fcis-32412	4	16	for	for	ADP
fcis-32412	4	17	providing	provide	VERB
fcis-32412	4	18	real	real	ADJ
fcis-32412	4	19	-	-	PUNCT
fcis-32412	4	20	time	time	NOUN
fcis-32412	4	21	embodied	embody	VERB
fcis-32412	4	22	cognition	cognition	NOUN
fcis-32412	4	23	over	over	ADP
fcis-32412	4	24	a	a	DET
fcis-32412	4	25	humanoid	humanoid	NOUN
fcis-32412	4	26	robotic	robotic	ADJ
fcis-32412	4	27	platform	platform	NOUN
fcis-32412	4	28	.	.	PUNCT
fcis-32412	5	1	we	we	PRON
fcis-32412	5	2	architected	architecte	VERB
fcis-32412	5	3	a	a	DET
fcis-32412	5	4	neuromorphic	neuromorphic	ADJ
fcis-32412	5	5	processing	processing	NOUN
fcis-32412	5	6	unit	unit	NOUN
fcis-32412	5	7	(	(	PUNCT
fcis-32412	5	8	npu	npu	ADJ
fcis-32412	5	9	)	)	PUNCT
fcis-32412	5	10	based	base	VERB
fcis-32412	5	11	on	on	ADP
fcis-32412	5	12	a	a	DET
fcis-32412	5	13	spiking	spike	VERB
fcis-32412	5	14	architecture	architecture	NOUN
fcis-32412	5	15	and	and	CCONJ
fcis-32412	5	16	co	co	VERB
fcis-32412	5	17	-	-	ADJ
fcis-32412	5	18	designed	design	VERB
fcis-32412	5	19	sensor	sensor	NOUN
fcis-32412	5	20	interfaces	interface	NOUN
fcis-32412	5	21	,	,	PUNCT
fcis-32412	5	22	learning	learn	VERB
fcis-32412	5	23	rules	rule	NOUN
fcis-32412	5	24	,	,	PUNCT
fcis-32412	5	25	and	and	CCONJ
fcis-32412	5	26	motor	motor	NOUN
fcis-32412	5	27	control	control	NOUN
fcis-32412	5	28	policies	policy	NOUN
fcis-32412	5	29	in	in	ADP
fcis-32412	5	30	order	order	NOUN
fcis-32412	5	31	to	to	PART
fcis-32412	5	32	capitalize	capitalize	VERB
fcis-32412	5	33	upon	upon	SCONJ
fcis-32412	5	34	event	event	NOUN
fcis-32412	5	35	-	-	PUNCT
fcis-32412	5	36	driven	drive	VERB
fcis-32412	5	37	computing	computing	NOUN
fcis-32412	5	38	.	.	PUNCT
fcis-32412	6	1	the	the	DET
fcis-32412	6	2	system	system	NOUN
fcis-32412	6	3	was	be	AUX
fcis-32412	6	4	evaluated	evaluate	VERB
fcis-32412	6	5	in	in	ADP
fcis-32412	6	6	a	a	DET
fcis-32412	6	7	series	series	NOUN
fcis-32412	6	8	of	of	ADP
fcis-32412	6	9	closed	closed	ADJ
fcis-32412	6	10	-	-	PUNCT
fcis-32412	6	11	loop	loop	NOUN
fcis-32412	6	12	tasks	task	NOUN
fcis-32412	6	13	centered	center	VERB
fcis-32412	6	14	upon	upon	SCONJ
fcis-32412	6	15	real	real	ADJ
fcis-32412	6	16	-	-	PUNCT
fcis-32412	6	17	time	time	NOUN
fcis-32412	6	18	perception	perception	NOUN
fcis-32412	6	19	–	–	PUNCT
fcis-32412	6	20	action	action	NOUN
fcis-32412	6	21	loops	loop	NOUN
fcis-32412	6	22	:	:	PUNCT
fcis-32412	6	23	reactive	reactive	ADJ
fcis-32412	6	24	balance	balance	NOUN
fcis-32412	6	25	recovery	recovery	NOUN
fcis-32412	6	26	,	,	PUNCT
fcis-32412	6	27	tactile	tactile	NOUN
fcis-32412	6	28	-	-	PUNCT
fcis-32412	6	29	guided	guide	VERB
fcis-32412	6	30	object	object	NOUN
fcis-32412	6	31	manipulation	manipulation	NOUN
fcis-32412	6	32	,	,	PUNCT
fcis-32412	6	33	and	and	CCONJ
fcis-32412	6	34	fast	fast	ADJ
fcis-32412	6	35	visuomotor	visuomotor	NOUN
fcis-32412	6	36	reaching	reach	VERB
fcis-32412	6	37	under	under	ADP
fcis-32412	6	38	environmental	environmental	ADJ
fcis-32412	6	39	perturbation	perturbation	NOUN
fcis-32412	6	40	.	.	PUNCT
fcis-32412	7	1	performance	performance	NOUN
fcis-32412	7	2	was	be	AUX
fcis-32412	7	3	compared	compare	VERB
fcis-32412	7	4	against	against	ADP
fcis-32412	7	5	a	a	DET
fcis-32412	7	6	benchmark	benchmark	ADJ
fcis-32412	7	7	conventional	conventional	ADJ
fcis-32412	7	8	controller	controller	NOUN
fcis-32412	7	9	running	run	VERB
fcis-32412	7	10	optimized	optimize	VERB
fcis-32412	7	11	deep	deep	ADJ
fcis-32412	7	12	learning	learning	NOUN
fcis-32412	7	13	and	and	CCONJ
fcis-32412	7	14	control	control	NOUN
fcis-32412	7	15	stacks	stack	NOUN
fcis-32412	7	16	in	in	ADP
fcis-32412	7	17	low	low	ADJ
fcis-32412	7	18	-	-	PUNCT
fcis-32412	7	19	power	power	NOUN
fcis-32412	7	20	cpu	cpu	NOUN
fcis-32412	7	21	/	/	SYM
fcis-32412	7	22	gpu	gpu	NOUN
fcis-32412	7	23	hardware	hardware	NOUN
fcis-32412	7	24	.	.	PUNCT
fcis-32412	8	1	we	we	PRON
fcis-32412	8	2	discover	discover	VERB
fcis-32412	8	3	that	that	SCONJ
fcis-32412	8	4	the	the	DET
fcis-32412	8	5	neuromorphic	neuromorphic	ADJ
fcis-32412	8	6	system	system	NOUN
fcis-32412	8	7	facilitates	facilitate	VERB
fcis-32412	8	8	equivalent	equivalent	ADJ
fcis-32412	8	9	task	task	NOUN
fcis-32412	8	10	performance	performance	NOUN
fcis-32412	8	11	,	,	PUNCT
fcis-32412	8	12	decreased	decrease	VERB
fcis-32412	8	13	end	end	NOUN
fcis-32412	8	14	-	-	PUNCT
fcis-32412	8	15	to	to	ADP
fcis-32412	8	16	-	-	PUNCT
fcis-32412	8	17	end	end	NOUN
fcis-32412	8	18	perceptionto	perceptionto	NOUN
fcis-32412	8	19	-	-	PUNCT
fcis-32412	8	20	actuation	actuation	NOUN
fcis-32412	8	21	latency	latency	NOUN
fcis-32412	8	22	,	,	PUNCT
fcis-32412	8	23	and	and	CCONJ
fcis-32412	8	24	decreased	decrease	VERB
fcis-32412	8	25	energy	energy	NOUN
fcis-32412	8	26	consumption	consumption	NOUN
fcis-32412	8	27	by	by	ADP
fcis-32412	8	28	wide	wide	ADJ
fcis-32412	8	29	margins	margin	NOUN
fcis-32412	8	30	.	.	PUNCT
fcis-32412	9	1	more	more	ADJ
fcis-32412	9	2	,	,	PUNCT
fcis-32412	9	3	the	the	DET
fcis-32412	9	4	spiking	spike	VERB
fcis-32412	9	5	networks	network	NOUN
fcis-32412	9	6	enable	enable	VERB
fcis-32412	9	7	continuous	continuous	ADJ
fcis-32412	9	8	on	on	ADP
fcis-32412	9	9	-	-	PUNCT
fcis-32412	9	10	line	line	NOUN
fcis-32412	9	11	adaptation	adaptation	NOUN
fcis-32412	9	12	based	base	VERB
fcis-32412	9	13	on	on	ADP
fcis-32412	9	14	local	local	ADJ
fcis-32412	9	15	plasticity	plasticity	NOUN
fcis-32412	9	16	rules	rule	NOUN
fcis-32412	9	17	,	,	PUNCT
fcis-32412	9	18	enabling	enable	VERB
fcis-32412	9	19	fast	fast	ADJ
fcis-32412	9	20	recovery	recovery	NOUN
fcis-32412	9	21	from	from	ADP
fcis-32412	9	22	novel	novel	ADJ
fcis-32412	9	23	perturbations	perturbation	NOUN
fcis-32412	9	24	without	without	ADP
fcis-32412	9	25	off	off	ADP
fcis-32412	9	26	-	-	PUNCT
fcis-32412	9	27	line	line	NOUN
fcis-32412	9	28	retraining	retraining	NOUN
fcis-32412	9	29	.	.	PUNCT
fcis-32412	10	1	these	these	DET
fcis-32412	10	2	outcomes	outcome	NOUN
fcis-32412	10	3	indicate	indicate	VERB
fcis-32412	10	4	a	a	DET
fcis-32412	10	5	direction	direction	NOUN
fcis-32412	10	6	for	for	ADP
fcis-32412	10	7	a	a	DET
fcis-32412	10	8	potential	potential	ADJ
fcis-32412	10	9	use	use	NOUN
fcis-32412	10	10	of	of	ADP
fcis-32412	10	11	neuromorphic	neuromorphic	ADJ
fcis-32412	10	12	hardware	hardware	NOUN
fcis-32412	10	13	,	,	PUNCT
fcis-32412	10	14	when	when	SCONJ
fcis-32412	10	15	co	co	VERB
fcis-32412	10	16	-	-	VERB
fcis-32412	10	17	designed	design	VERB
fcis-32412	10	18	alongside	alongside	ADP
fcis-32412	10	19	embodied	embody	VERB
fcis-32412	10	20	control	control	NOUN
fcis-32412	10	21	algorithms	algorithm	NOUN
fcis-32412	10	22	,	,	PUNCT
fcis-32412	10	23	as	as	ADP
fcis-32412	10	24	providing	provide	VERB
fcis-32412	10	25	a	a	DET
fcis-32412	10	26	direction	direction	NOUN
fcis-32412	10	27	for	for	ADP
fcis-32412	10	28	energy	energy	NOUN
fcis-32412	10	29	-	-	PUNCT
fcis-32412	10	30	efficient	efficient	ADJ
fcis-32412	10	31	,	,	PUNCT
fcis-32412	10	32	low	low	ADJ
fcis-32412	10	33	-	-	PUNCT
fcis-32412	10	34	latency	latency	NOUN
fcis-32412	10	35	cognitive	cognitive	ADJ
fcis-32412	10	36	behavior	behavior	NOUN
fcis-32412	10	37	in	in	ADP
fcis-32412	10	38	humanoid	humanoid	NOUN
fcis-32412	10	39	robots	robot	NOUN
fcis-32412	10	40	.	.	PUNCT
fcis-32412	11	1	keywords	keyword	NOUN
fcis-32412	11	2	:	:	PUNCT
fcis-32412	11	3	neuromorphic	neuromorphic	ADJ
fcis-32412	11	4	hardware	hardware	NOUN
fcis-32412	11	5	;	;	PUNCT
fcis-32412	11	6	spiking	spike	VERB
fcis-32412	11	7	neural	neural	ADJ
fcis-32412	11	8	networks	network	NOUN
fcis-32412	11	9	;	;	PUNCT
fcis-32412	11	10	embodied	embody	VERB
fcis-32412	11	11	cognition	cognition	NOUN
fcis-32412	11	12	;	;	PUNCT
fcis-32412	11	13	humanoid	humanoid	NOUN
fcis-32412	11	14	robots	robot	NOUN
fcis-32412	11	15	;	;	PUNCT
fcis-32412	11	16	real	real	ADJ
fcis-32412	11	17	-	-	PUNCT
fcis-32412	11	18	time	time	NOUN
fcis-32412	11	19	control	control	NOUN
fcis-32412	11	20	;	;	PUNCT
fcis-32412	11	21	on	on	ADP
fcis-32412	11	22	-	-	PUNCT
fcis-32412	11	23	line	line	NOUN
fcis-32412	11	24	adaptation	adaptation	NOUN
fcis-32412	11	25	;	;	PUNCT
fcis-32412	11	26	event	event	NOUN
fcis-32412	11	27	-	-	PUNCT
fcis-32412	11	28	driven	drive	VERB
fcis-32412	11	29	perception	perception	NOUN
fcis-32412	11	30	.	.	PUNCT
fcis-32412	12	1	1	1	X
fcis-32412	12	2	.	.	X
fcis-32412	12	3	introduction	introduction	NOUN
fcis-32412	12	4	robots	robot	NOUN
fcis-32412	12	5	that	that	PRON
fcis-32412	12	6	are	be	AUX
fcis-32412	12	7	humanoid	humanoid	ADJ
fcis-32412	12	8	and	and	CCONJ
fcis-32412	12	9	function	function	VERB
fcis-32412	12	10	in	in	ADP
fcis-32412	12	11	dynamic	dynamic	ADJ
fcis-32412	12	12	,	,	PUNCT
fcis-32412	12	13	uncertain	uncertain	ADJ
fcis-32412	12	14	worlds	world	NOUN
fcis-32412	12	15	need	need	VERB
fcis-32412	12	16	to	to	PART
fcis-32412	12	17	perceive	perceive	VERB
fcis-32412	12	18	,	,	PUNCT
fcis-32412	12	19	decide	decide	VERB
fcis-32412	12	20	,	,	PUNCT
fcis-32412	12	21	and	and	CCONJ
fcis-32412	12	22	act	act	VERB
fcis-32412	12	23	in	in	ADP
fcis-32412	12	24	closedloop	closedloop	NOUN
fcis-32412	12	25	cycles	cycle	NOUN
fcis-32412	12	26	constantly	constantly	ADV
fcis-32412	12	27	,	,	PUNCT
fcis-32412	12	28	where	where	SCONJ
fcis-32412	12	29	delay	delay	NOUN
fcis-32412	12	30	or	or	CCONJ
fcis-32412	12	31	excessive	excessive	ADJ
fcis-32412	12	32	power	power	NOUN
fcis-32412	12	33	consumption	consumption	NOUN
fcis-32412	12	34	is	be	AUX
fcis-32412	12	35	possible	possible	ADJ
fcis-32412	12	36	,	,	PUNCT
fcis-32412	12	37	leading	lead	VERB
fcis-32412	12	38	to	to	ADP
fcis-32412	12	39	a	a	DET
fcis-32412	12	40	loss	loss	NOUN
fcis-32412	12	41	in	in	ADP
fcis-32412	12	42	safety	safety	NOUN
fcis-32412	12	43	and	and	CCONJ
fcis-32412	12	44	performance	performance	NOUN
fcis-32412	12	45	.	.	PUNCT
fcis-32412	13	1	embodied	embody	VERB
fcis-32412	13	2	cognition	cognition	NOUN
fcis-32412	13	3	is	be	AUX
fcis-32412	13	4	a	a	DET
fcis-32412	13	5	concept	concept	NOUN
fcis-32412	13	6	that	that	PRON
fcis-32412	13	7	underscores	underscore	VERB
fcis-32412	13	8	how	how	SCONJ
fcis-32412	13	9	intelligence	intelligence	NOUN
fcis-32412	13	10	is	be	AUX
fcis-32412	13	11	generated	generate	VERB
fcis-32412	13	12	from	from	ADP
fcis-32412	13	13	close	close	ADJ
fcis-32412	13	14	coupling	coupling	NOUN
fcis-32412	13	15	among	among	ADP
fcis-32412	13	16	sensory	sensory	ADJ
fcis-32412	13	17	input	input	NOUN
fcis-32412	13	18	,	,	PUNCT
fcis-32412	13	19	motor	motor	NOUN
fcis-32412	13	20	output	output	NOUN
fcis-32412	13	21	,	,	PUNCT
fcis-32412	13	22	and	and	CCONJ
fcis-32412	13	23	physical	physical	ADJ
fcis-32412	13	24	properties	property	NOUN
fcis-32412	13	25	of	of	ADP
fcis-32412	13	26	the	the	DET
fcis-32412	13	27	body	body	NOUN
fcis-32412	13	28	.	.	PUNCT
fcis-32412	14	1	embodding	embodde	VERB
fcis-32412	14	2	embodied	embody	VERB
fcis-32412	14	3	cognition	cognition	NOUN
fcis-32412	14	4	in	in	ADP
fcis-32412	14	5	mobile	mobile	ADJ
fcis-32412	14	6	humanoid	humanoid	NOUN
fcis-32412	14	7	robots	robot	NOUN
fcis-32412	14	8	raises	raise	VERB
fcis-32412	14	9	significant	significant	ADJ
fcis-32412	14	10	computational	computational	ADJ
fcis-32412	14	11	challenges	challenge	NOUN
fcis-32412	14	12	:	:	PUNCT
fcis-32412	14	13	sensory	sensory	ADJ
fcis-32412	14	14	bandwidths	bandwidth	NOUN
fcis-32412	14	15	from	from	ADP
fcis-32412	14	16	cameras	camera	NOUN
fcis-32412	14	17	,	,	PUNCT
fcis-32412	14	18	event	event	NOUN
fcis-32412	14	19	-	-	PUNCT
fcis-32412	14	20	based	base	VERB
fcis-32412	14	21	vision	vision	NOUN
fcis-32412	14	22	sensors	sensor	NOUN
fcis-32412	14	23	,	,	PUNCT
fcis-32412	14	24	tactile	tactile	ADJ
fcis-32412	14	25	,	,	PUNCT
fcis-32412	14	26	and	and	CCONJ
fcis-32412	14	27	proprioceptive	proprioceptive	ADJ
fcis-32412	14	28	sensors	sensor	NOUN
fcis-32412	14	29	need	need	VERB
fcis-32412	14	30	to	to	PART
fcis-32412	14	31	be	be	AUX
fcis-32412	14	32	combined	combine	VERB
fcis-32412	14	33	and	and	CCONJ
fcis-32412	14	34	processed	process	VERB
fcis-32412	14	35	in	in	ADP
fcis-32412	14	36	real	real	ADJ
fcis-32412	14	37	time	time	NOUN
fcis-32412	14	38	;	;	PUNCT
fcis-32412	14	39	control	control	NOUN
fcis-32412	14	40	policies	policy	NOUN
fcis-32412	14	41	need	need	VERB
fcis-32412	14	42	to	to	PART
fcis-32412	14	43	adapt	adapt	VERB
fcis-32412	14	44	in	in	ADP
fcis-32412	14	45	real	real	ADJ
fcis-32412	14	46	time	time	NOUN
fcis-32412	14	47	to	to	ADP
fcis-32412	14	48	dynamic	dynamic	ADJ
fcis-32412	14	49	changes	change	NOUN
fcis-32412	14	50	;	;	PUNCT
fcis-32412	14	51	and	and	CCONJ
fcis-32412	14	52	energy	energy	NOUN
fcis-32412	14	53	constraints	constraint	NOUN
fcis-32412	14	54	require	require	VERB
fcis-32412	14	55	very	very	ADV
fcis-32412	14	56	efficient	efficient	ADJ
fcis-32412	14	57	computing	computing	NOUN
fcis-32412	14	58	to	to	PART
fcis-32412	14	59	enable	enable	VERB
fcis-32412	14	60	extended	extended	ADJ
fcis-32412	14	61	autonomous	autonomous	ADJ
fcis-32412	14	62	behavior	behavior	NOUN
fcis-32412	14	63	.	.	PUNCT
fcis-32412	15	1	classic	classic	ADJ
fcis-32412	15	2	deep	deep	ADJ
fcis-32412	15	3	learning	learning	NOUN
fcis-32412	15	4	and	and	CCONJ
fcis-32412	15	5	model	model	ADJ
fcis-32412	15	6	-	-	PUNCT
fcis-32412	15	7	predictive	predictive	ADJ
fcis-32412	15	8	control	control	NOUN
fcis-32412	15	9	approaches	approach	NOUN
fcis-32412	15	10	have	have	AUX
fcis-32412	15	11	improved	improve	VERB
fcis-32412	15	12	robot	robot	NOUN
fcis-32412	15	13	vision	vision	NOUN
fcis-32412	15	14	and	and	CCONJ
fcis-32412	15	15	control	control	NOUN
fcis-32412	15	16	but	but	CCONJ
fcis-32412	15	17	generally	generally	ADV
fcis-32412	15	18	typify	typify	VERB
fcis-32412	15	19	batch	batch	NOUN
fcis-32412	15	20	-	-	PUNCT
fcis-32412	15	21	processed	process	VERB
fcis-32412	15	22	,	,	PUNCT
fcis-32412	15	23	centrally	centrally	ADV
fcis-32412	15	24	calculated	calculate	VERB
fcis-32412	15	25	latencies	latency	NOUN
fcis-32412	15	26	and	and	CCONJ
fcis-32412	15	27	power	power	NOUN
fcis-32412	15	28	costs	cost	NOUN
fcis-32412	15	29	not	not	PART
fcis-32412	15	30	compatible	compatible	ADJ
fcis-32412	15	31	with	with	ADP
fcis-32412	15	32	fully	fully	ADV
fcis-32412	15	33	onboard	onboard	ADP
fcis-32412	15	34	continuous	continuous	ADJ
fcis-32412	15	35	processing	processing	NOUN
fcis-32412	15	36	in	in	ADP
fcis-32412	15	37	mobile	mobile	ADJ
fcis-32412	15	38	humanoids	humanoid	NOUN
fcis-32412	15	39	.	.	PUNCT
fcis-32412	16	1	neuromorphic	neuromorphic	ADJ
fcis-32412	16	2	computing	computing	NOUN
fcis-32412	16	3	,	,	PUNCT
fcis-32412	16	4	rooted	root	VERB
fcis-32412	16	5	in	in	ADP
fcis-32412	16	6	biological	biological	ADJ
fcis-32412	16	7	neural	neural	ADJ
fcis-32412	16	8	nets	net	NOUN
fcis-32412	16	9	,	,	PUNCT
fcis-32412	16	10	envisions	envision	VERB
fcis-32412	16	11	a	a	DET
fcis-32412	16	12	completely	completely	ADV
fcis-32412	16	13	different	different	ADJ
fcis-32412	16	14	substrate	substrate	NOUN
fcis-32412	16	15	for	for	ADP
fcis-32412	16	16	computing	computing	NOUN
fcis-32412	16	17	:	:	PUNCT
fcis-32412	16	18	event	event	NOUN
fcis-32412	16	19	-	-	PUNCT
fcis-32412	16	20	driven	drive	VERB
fcis-32412	16	21	,	,	PUNCT
fcis-32412	16	22	highly	highly	ADV
fcis-32412	16	23	parallel	parallel	ADJ
fcis-32412	16	24	processing	processing	NOUN
fcis-32412	16	25	of	of	ADP
fcis-32412	16	26	sparse	sparse	ADJ
fcis-32412	16	27	spike	spike	ADJ
fcis-32412	16	28	-	-	PUNCT
fcis-32412	16	29	like	like	ADJ
fcis-32412	16	30	input	input	NOUN
fcis-32412	16	31	-	-	PUNCT
fcis-32412	16	32	output	output	NOUN
fcis-32412	16	33	signals	signal	NOUN
fcis-32412	16	34	with	with	ADP
fcis-32412	16	35	local	local	ADJ
fcis-32412	16	36	compute	compute	NOUN
fcis-32412	16	37	and	and	CCONJ
fcis-32412	16	38	co	co	VERB
fcis-32412	16	39	-	-	ADJ
fcis-32412	16	40	located	locate	VERB
fcis-32412	16	41	memory[1	memory[1	PROPN
fcis-32412	16	42	]	]	PUNCT
fcis-32412	16	43	.	.	PUNCT
fcis-32412	17	1	these	these	DET
fcis-32412	17	2	properties	property	NOUN
fcis-32412	17	3	promise	promise	VERB
fcis-32412	17	4	orders	order	NOUN
fcis-32412	17	5	-	-	PUNCT
fcis-32412	17	6	of	of	ADP
fcis-32412	17	7	-	-	PUNCT
fcis-32412	17	8	magnitude	magnitude	NOUN
fcis-32412	17	9	reductions	reduction	NOUN
fcis-32412	17	10	in	in	ADP
fcis-32412	17	11	energy	energy	NOUN
fcis-32412	17	12	per	per	ADP
fcis-32412	17	13	operation	operation	NOUN
fcis-32412	17	14	and	and	CCONJ
fcis-32412	17	15	lower	low	ADJ
fcis-32412	17	16	latencies	latency	NOUN
fcis-32412	17	17	in	in	ADP
fcis-32412	17	18	sensorimotor	sensorimotor	NOUN
fcis-32412	17	19	loops	loop	NOUN
fcis-32412	17	20	.	.	PUNCT
fcis-32412	18	1	previous	previous	ADJ
fcis-32412	18	2	work	work	NOUN
fcis-32412	18	3	has	have	AUX
fcis-32412	18	4	shown	show	VERB
fcis-32412	18	5	neuromorphic	neuromorphic	ADJ
fcis-32412	18	6	superiority	superiority	NOUN
fcis-32412	18	7	in	in	ADP
fcis-32412	18	8	closed	closed	ADJ
fcis-32412	18	9	-	-	PUNCT
fcis-32412	18	10	loop	loop	NOUN
fcis-32412	18	11	perception	perception	NOUN
fcis-32412	18	12	experiments	experiment	NOUN
fcis-32412	18	13	,	,	PUNCT
fcis-32412	18	14	event	event	NOUN
fcis-32412	18	15	-	-	PUNCT
fcis-32412	18	16	based	base	VERB
fcis-32412	18	17	visual	visual	ADJ
fcis-32412	18	18	processing	processing	NOUN
fcis-32412	18	19	,	,	PUNCT
fcis-32412	18	20	and	and	CCONJ
fcis-32412	18	21	low	low	ADJ
fcis-32412	18	22	-	-	PUNCT
fcis-32412	18	23	level	level	NOUN
fcis-32412	18	24	motor	motor	NOUN
fcis-32412	18	25	control	control	NOUN
fcis-32412	18	26	building	building	NOUN
fcis-32412	18	27	blocks	block	NOUN
fcis-32412	18	28	,	,	PUNCT
fcis-32412	18	29	yet	yet	CCONJ
fcis-32412	18	30	systematic	systematic	ADJ
fcis-32412	18	31	deployments	deployment	NOUN
fcis-32412	18	32	of	of	ADP
fcis-32412	18	33	neuromorphic	neuromorphic	ADJ
fcis-32412	18	34	hardware	hardware	NOUN
fcis-32412	18	35	supporting	support	VERB
fcis-32412	18	36	embodied	embodied	ADJ
fcis-32412	18	37	cognition	cognition	NOUN
fcis-32412	18	38	in	in	ADP
fcis-32412	18	39	humanoid	humanoid	NOUN
fcis-32412	18	40	robots	robot	NOUN
fcis-32412	18	41	are	be	AUX
fcis-32412	18	42	scarce	scarce	ADJ
fcis-32412	18	43	.	.	PUNCT
fcis-32412	19	1	essential	essential	ADJ
fcis-32412	19	2	open	open	ADJ
fcis-32412	19	3	questions	question	NOUN
fcis-32412	19	4	are	be	AUX
fcis-32412	19	5	how	how	SCONJ
fcis-32412	19	6	to	to	PART
fcis-32412	19	7	design	design	VERB
fcis-32412	19	8	end	end	NOUN
fcis-32412	19	9	-	-	PUNCT
fcis-32412	19	10	to	to	ADP
fcis-32412	19	11	-	-	PUNCT
fcis-32412	19	12	end	end	NOUN
fcis-32412	19	13	sensing	sensing	NOUN
fcis-32412	19	14	-	-	PUNCT
fcis-32412	19	15	to	to	ADP
fcis-32412	19	16	-	-	PUNCT
fcis-32412	19	17	actuation	actuation	NOUN
fcis-32412	19	18	pipelines	pipeline	NOUN
fcis-32412	19	19	over	over	ADP
fcis-32412	19	20	neuromorphic	neuromorphic	ADJ
fcis-32412	19	21	platforms	platform	NOUN
fcis-32412	19	22	,	,	PUNCT
fcis-32412	19	23	how	how	SCONJ
fcis-32412	19	24	to	to	PART
fcis-32412	19	25	facilitate	facilitate	VERB
fcis-32412	19	26	on	on	ADP
fcis-32412	19	27	-	-	PUNCT
fcis-32412	19	28	line	line	NOUN
fcis-32412	19	29	adaptive	adaptive	ADJ
fcis-32412	19	30	learning	learning	NOUN
fcis-32412	19	31	in	in	ADP
fcis-32412	19	32	accordance	accordance	NOUN
fcis-32412	19	33	with	with	ADP
fcis-32412	19	34	local	local	ADJ
fcis-32412	19	35	rules	rule	NOUN
fcis-32412	19	36	of	of	ADP
fcis-32412	19	37	plasticity	plasticity	NOUN
fcis-32412	19	38	,	,	PUNCT
fcis-32412	19	39	and	and	CCONJ
fcis-32412	19	40	how	how	SCONJ
fcis-32412	19	41	to	to	PART
fcis-32412	19	42	measure	measure	VERB
fcis-32412	19	43	trade	trade	NOUN
fcis-32412	19	44	-	-	PUNCT
fcis-32412	19	45	offs	off	NOUN
fcis-32412	19	46	in	in	ADP
fcis-32412	19	47	latency	latency	NOUN
fcis-32412	19	48	,	,	PUNCT
fcis-32412	19	49	energy	energy	NOUN
fcis-32412	19	50	,	,	PUNCT
fcis-32412	19	51	and	and	CCONJ
fcis-32412	19	52	robustness	robustness	NOUN
fcis-32412	19	53	relative	relative	ADJ
fcis-32412	19	54	to	to	ADP
fcis-32412	19	55	traditional	traditional	ADJ
fcis-32412	19	56	platforms	platform	NOUN
fcis-32412	19	57	.	.	PUNCT
fcis-32412	20	1	here	here	ADV
fcis-32412	20	2	,	,	PUNCT
fcis-32412	20	3	we	we	PRON
fcis-32412	20	4	present	present	VERB
fcis-32412	20	5	a	a	DET
fcis-32412	20	6	systematic	systematic	ADJ
fcis-32412	20	7	exploration	exploration	NOUN
fcis-32412	20	8	of	of	ADP
fcis-32412	20	9	neuromorphic	neuromorphic	ADJ
fcis-32412	20	10	hardware	hardware	NOUN
fcis-32412	20	11	for	for	ADP
fcis-32412	20	12	real	real	ADJ
fcis-32412	20	13	-	-	PUNCT
fcis-32412	20	14	time	time	NOUN
fcis-32412	20	15	embodied	embody	VERB
fcis-32412	20	16	cognition	cognition	NOUN
fcis-32412	20	17	in	in	ADP
fcis-32412	20	18	a	a	DET
fcis-32412	20	19	humanoid	humanoid	NOUN
fcis-32412	20	20	robot	robot	NOUN
fcis-32412	20	21	.	.	PUNCT
fcis-32412	21	1	we	we	PRON
fcis-32412	21	2	architected	architecte	VERB
fcis-32412	21	3	spiking	spike	VERB
fcis-32412	21	4	neural	neural	ADJ
fcis-32412	21	5	network	network	NOUN
fcis-32412	21	6	(	(	PUNCT
fcis-32412	21	7	snn	snn	PROPN
fcis-32412	21	8	)	)	PUNCT
fcis-32412	21	9	controllers	controller	NOUN
fcis-32412	21	10	and	and	CCONJ
fcis-32412	21	11	percept	percept	PROPN
fcis-32412	21	12	modules	module	NOUN
fcis-32412	21	13	designed	design	VERB
fcis-32412	21	14	for	for	ADP
fcis-32412	21	15	an	an	DET
fcis-32412	21	16	npu	npu	NOUN
fcis-32412	21	17	and	and	CCONJ
fcis-32412	21	18	coupled	couple	VERB
fcis-32412	21	19	them	they	PRON
fcis-32412	21	20	to	to	ADP
fcis-32412	21	21	the	the	DET
fcis-32412	21	22	robot	robot	NOUN
fcis-32412	21	23	's	's	PART
fcis-32412	21	24	sensor	sensor	NOUN
fcis-32412	21	25	array	array	NOUN
fcis-32412	21	26	and	and	CCONJ
fcis-32412	21	27	actuators	actuator	NOUN
fcis-32412	21	28	.	.	PUNCT
fcis-32412	22	1	our	our	PRON
fcis-32412	22	2	work	work	NOUN
fcis-32412	22	3	has	have	VERB
fcis-32412	22	4	three	three	NUM
fcis-32412	22	5	parts	part	NOUN
fcis-32412	22	6	:	:	PUNCT
fcis-32412	22	7	(	(	PUNCT
fcis-32412	22	8	1	1	X
fcis-32412	22	9	)	)	PUNCT
fcis-32412	22	10	an	an	DET
fcis-32412	22	11	engineering	engineering	NOUN
fcis-32412	22	12	proof	proof	NOUN
fcis-32412	22	13	-	-	PUNCT
fcis-32412	22	14	of	of	ADP
fcis-32412	22	15	-	-	PUNCT
fcis-32412	22	16	concept	concept	NOUN
fcis-32412	22	17	of	of	ADP
fcis-32412	22	18	end	end	NOUN
fcis-32412	22	19	-	-	PUNCT
fcis-32412	22	20	to	to	ADP
fcis-32412	22	21	-	-	PUNCT
fcis-32412	22	22	end	end	NOUN
fcis-32412	22	23	embodied	embody	VERB
fcis-32412	22	24	cognition	cognition	NOUN
fcis-32412	22	25	pipelines	pipeline	NOUN
fcis-32412	22	26	running	run	VERB
fcis-32412	22	27	on	on	ADP
fcis-32412	22	28	neuromorphic	neuromorphic	ADJ
fcis-32412	22	29	modules	module	NOUN
fcis-32412	22	30	;	;	PUNCT
fcis-32412	22	31	(	(	PUNCT
fcis-32412	22	32	2	2	X
fcis-32412	22	33	)	)	PUNCT
fcis-32412	22	34	experimental	experimental	ADJ
fcis-32412	22	35	benchmarks	benchmark	NOUN
fcis-32412	22	36	contrasting	contrast	VERB
fcis-32412	22	37	latency	latency	NOUN
fcis-32412	22	38	,	,	PUNCT
fcis-32412	22	39	energy	energy	NOUN
fcis-32412	22	40	,	,	PUNCT
fcis-32412	22	41	and	and	CCONJ
fcis-32412	22	42	task	task	NOUN
fcis-32412	22	43	performance	performance	NOUN
fcis-32412	22	44	relative	relative	ADJ
fcis-32412	22	45	to	to	ADP
fcis-32412	22	46	a	a	DET
fcis-32412	22	47	standard	standard	ADJ
fcis-32412	22	48	low	low	ADJ
fcis-32412	22	49	-	-	PUNCT
fcis-32412	22	50	power	power	NOUN
fcis-32412	22	51	cpu	cpu	NOUN
fcis-32412	22	52	/	/	SYM
fcis-32412	22	53	gpu	gpu	NOUN
fcis-32412	22	54	reference	reference	NOUN
fcis-32412	22	55	platform	platform	NOUN
fcis-32412	22	56	;	;	PUNCT
fcis-32412	22	57	and	and	CCONJ
fcis-32412	22	58	(	(	PUNCT
fcis-32412	22	59	3	3	X
fcis-32412	22	60	)	)	PUNCT
fcis-32412	22	61	evaluation	evaluation	NOUN
fcis-32412	22	62	of	of	ADP
fcis-32412	22	63	on	on	ADP
fcis-32412	22	64	-	-	PUNCT
fcis-32412	22	65	line	line	NOUN
fcis-32412	22	66	local	local	ADJ
fcis-32412	22	67	adaptive	adaptive	ADJ
fcis-32412	22	68	behavior	behavior	NOUN
fcis-32412	22	69	mechanisms	mechanism	NOUN
fcis-32412	22	70	supporting	support	VERB
fcis-32412	22	71	rapid	rapid	ADJ
fcis-32412	22	72	adaptation	adaptation	NOUN
fcis-32412	22	73	without	without	ADP
fcis-32412	22	74	global	global	ADJ
fcis-32412	22	75	retraining	retraining	NOUN
fcis-32412	22	76	.	.	PUNCT
fcis-32412	23	1	the	the	DET
fcis-32412	23	2	rest	rest	NOUN
fcis-32412	23	3	of	of	ADP
fcis-32412	23	4	the	the	DET
fcis-32412	23	5	paper	paper	NOUN
fcis-32412	23	6	outlines	outline	VERB
fcis-32412	23	7	experimental	experimental	ADJ
fcis-32412	23	8	approaches	approach	NOUN
fcis-32412	23	9	,	,	PUNCT
fcis-32412	23	10	quantitative	quantitative	ADJ
fcis-32412	23	11	findings	finding	NOUN
fcis-32412	23	12	,	,	PUNCT
fcis-32412	23	13	and	and	CCONJ
fcis-32412	23	14	consequences	consequence	NOUN
fcis-32412	23	15	for	for	ADP
fcis-32412	23	16	next	next	ADJ
fcis-32412	23	17	robot	robot	NOUN
fcis-32412	23	18	cognitive	cognitive	ADJ
fcis-32412	23	19	architecture	architecture	NOUN
fcis-32412	23	20	.	.	PUNCT
fcis-32412	24	1	2	2	X
fcis-32412	24	2	.	.	X
fcis-32412	24	3	methods	method	NOUN
fcis-32412	24	4	robotic	robotic	ADJ
fcis-32412	24	5	platform	platform	NOUN
fcis-32412	24	6	and	and	CCONJ
fcis-32412	24	7	sensors	sensor	NOUN
fcis-32412	24	8	robotic	robotic	ADJ
fcis-32412	24	9	experimental	experimental	ADJ
fcis-32412	24	10	work	work	NOUN
fcis-32412	24	11	took	take	VERB
fcis-32412	24	12	place	place	NOUN
fcis-32412	24	13	on	on	ADP
fcis-32412	24	14	a	a	DET
fcis-32412	24	15	mid	mid	ADJ
fcis-32412	24	16	-	-	NOUN
fcis-32412	24	17	scale	scale	ADJ
fcis-32412	24	18	humanoid	humanoid	NOUN
fcis-32412	24	19	platform	platform	NOUN
fcis-32412	24	20	that	that	PRON
fcis-32412	24	21	had	have	VERB
fcis-32412	24	22	20	20	NUM
fcis-32412	24	23	actuated	actuate	VERB
fcis-32412	24	24	dof	dof	NOUN
fcis-32412	24	25	based	base	VERB
fcis-32412	24	26	on	on	ADP
fcis-32412	24	27	compliant	compliant	ADJ
fcis-32412	24	28	leg	leg	NOUN
fcis-32412	24	29	and	and	CCONJ
fcis-32412	24	30	arm	arm	NOUN
fcis-32412	24	31	actuators	actuator	NOUN
fcis-32412	24	32	.	.	PUNCT
fcis-32412	25	1	the	the	DET
fcis-32412	25	2	sensor	sensor	NOUN
fcis-32412	25	3	suite	suite	NOUN
fcis-32412	25	4	included	include	VERB
fcis-32412	25	5	a	a	DET
fcis-32412	25	6	stereo	stereo	NOUN
fcis-32412	25	7	eventbased	eventbase	VERB
fcis-32412	25	8	camera	camera	NOUN
fcis-32412	25	9	providing	provide	VERB
fcis-32412	25	10	high	high	ADJ
fcis-32412	25	11	-	-	PUNCT
fcis-32412	25	12	temporal	temporal	ADJ
fcis-32412	25	13	-	-	PUNCT
fcis-32412	25	14	resolution	resolution	NOUN
fcis-32412	25	15	visual	visual	ADJ
fcis-32412	25	16	input	input	NOUN
fcis-32412	25	17	,	,	PUNCT
fcis-32412	25	18	a	a	DET
fcis-32412	25	19	matrix	matrix	NOUN
fcis-32412	25	20	of	of	ADP
fcis-32412	25	21	distributed	distribute	VERB
fcis-32412	25	22	tactile	tactile	ADJ
fcis-32412	25	23	sensors	sensor	NOUN
fcis-32412	25	24	over	over	ADP
fcis-32412	25	25	both	both	DET
fcis-32412	25	26	hands	hand	NOUN
fcis-32412	25	27	,	,	PUNCT
fcis-32412	25	28	joint	joint	ADJ
fcis-32412	25	29	encoders	encoder	NOUN
fcis-32412	25	30	serving	serve	VERB
fcis-32412	25	31	for	for	ADP
fcis-32412	25	32	proprioception	proprioception	NOUN
fcis-32412	25	33	,	,	PUNCT
fcis-32412	25	34	as	as	ADV
fcis-32412	25	35	well	well	ADV
fcis-32412	25	36	as	as	ADP
fcis-32412	25	37	an	an	DET
fcis-32412	25	38	inertial	inertial	ADJ
fcis-32412	25	39	measurement	measurement	NOUN
fcis-32412	25	40	unit	unit	NOUN
fcis-32412	25	41	(	(	PUNCT
fcis-32412	25	42	imu)[2	imu)[2	PROPN
fcis-32412	25	43	]	]	PUNCT
fcis-32412	25	44	.	.	PUNCT
fcis-32412	26	1	buses	bus	NOUN
fcis-32412	26	2	for	for	ADP
fcis-32412	26	3	power	power	NOUN
fcis-32412	26	4	and	and	CCONJ
fcis-32412	26	5	25	25	NUM
fcis-32412	26	6	communication	communication	NOUN
fcis-32412	26	7	were	be	AUX
fcis-32412	26	8	brought	bring	VERB
fcis-32412	26	9	out	out	ADP
fcis-32412	26	10	to	to	PART
fcis-32412	26	11	enable	enable	VERB
fcis-32412	26	12	a	a	DET
fcis-32412	26	13	neuromorphic	neuromorphic	ADJ
fcis-32412	26	14	processing	processing	NOUN
fcis-32412	26	15	module	module	NOUN
fcis-32412	26	16	to	to	PART
fcis-32412	26	17	execute	execute	VERB
fcis-32412	26	18	locally	locally	ADV
fcis-32412	26	19	on	on	ADP
fcis-32412	26	20	-	-	PUNCT
fcis-32412	26	21	board	board	NOUN
fcis-32412	26	22	and	and	CCONJ
fcis-32412	26	23	trade	trade	NOUN
fcis-32412	26	24	lowlatency	lowlatency	NOUN
fcis-32412	26	25	event	event	NOUN
fcis-32412	26	26	streams	stream	VERB
fcis-32412	26	27	with	with	ADP
fcis-32412	26	28	sensors	sensor	NOUN
fcis-32412	26	29	and	and	CCONJ
fcis-32412	26	30	motor	motor	NOUN
fcis-32412	26	31	command	command	NOUN
fcis-32412	26	32	modules	module	NOUN
fcis-32412	26	33	.	.	PUNCT
fcis-32412	27	1	neuromorphic	neuromorphic	ADJ
fcis-32412	27	2	chip	chip	NOUN
fcis-32412	27	3	and	and	CCONJ
fcis-32412	27	4	standard	standard	NOUN
fcis-32412	27	5	baseline	baseline	VERB
fcis-32412	27	6	the	the	DET
fcis-32412	27	7	event	event	NOUN
fcis-32412	27	8	-	-	PUNCT
fcis-32412	27	9	driven	drive	VERB
fcis-32412	27	10	,	,	PUNCT
fcis-32412	27	11	on	on	ADP
fcis-32412	27	12	-	-	PUNCT
fcis-32412	27	13	chip	chip	NOUN
fcis-32412	27	14	synaptic	synaptic	ADJ
fcis-32412	27	15	memory	memory	NOUN
fcis-32412	27	16	-	-	PUNCT
fcis-32412	27	17	based	base	VERB
fcis-32412	27	18	spiking	spike	VERB
fcis-32412	27	19	architecture	architecture	NOUN
fcis-32412	27	20	was	be	AUX
fcis-32412	27	21	applied	apply	VERB
fcis-32412	27	22	in	in	ADP
fcis-32412	27	23	a	a	DET
fcis-32412	27	24	neuromorphic	neuromorphic	ADJ
fcis-32412	27	25	processing	processing	NOUN
fcis-32412	27	26	unit	unit	NOUN
fcis-32412	27	27	.	.	PUNCT
fcis-32412	28	1	the	the	DET
fcis-32412	28	2	npu	npu	NOUN
fcis-32412	28	3	included	include	VERB
fcis-32412	28	4	programmable	programmable	ADJ
fcis-32412	28	5	time	time	NOUN
fcis-32412	28	6	constants	constant	NOUN
fcis-32412	28	7	for	for	ADP
fcis-32412	28	8	synapses	synapsis	NOUN
fcis-32412	28	9	,	,	PUNCT
fcis-32412	28	10	local	local	ADJ
fcis-32412	28	11	plasticity	plasticity	NOUN
fcis-32412	28	12	to	to	PART
fcis-32412	28	13	perform	perform	VERB
fcis-32412	28	14	spike	spike	ADJ
fcis-32412	28	15	-	-	PUNCT
fcis-32412	28	16	timing	timing	NOUN
fcis-32412	28	17	-	-	PUNCT
fcis-32412	28	18	dependent	dependent	ADJ
fcis-32412	28	19	plasticity	plasticity	NOUN
fcis-32412	28	20	(	(	PUNCT
fcis-32412	28	21	stdp	stdp	NOUN
fcis-32412	28	22	)	)	PUNCT
fcis-32412	28	23	,	,	PUNCT
fcis-32412	28	24	and	and	CCONJ
fcis-32412	28	25	reward	reward	NOUN
fcis-32412	28	26	-	-	PUNCT
fcis-32412	28	27	modulated	modulate	VERB
fcis-32412	28	28	gating	gating	NOUN
fcis-32412	28	29	.	.	PUNCT
fcis-32412	29	1	for	for	ADP
fcis-32412	29	2	comparison	comparison	NOUN
fcis-32412	29	3	purposes	purpose	NOUN
fcis-32412	29	4	,	,	PUNCT
fcis-32412	29	5	we	we	PRON
fcis-32412	29	6	implemented	implement	VERB
fcis-32412	29	7	an	an	DET
fcis-32412	29	8	optimized	optimize	VERB
fcis-32412	29	9	classical	classical	ADJ
fcis-32412	29	10	stack	stack	NOUN
fcis-32412	29	11	in	in	ADP
fcis-32412	29	12	a	a	DET
fcis-32412	29	13	low	low	ADJ
fcis-32412	29	14	-	-	PUNCT
fcis-32412	29	15	power	power	NOUN
fcis-32412	29	16	cpu	cpu	NOUN
fcis-32412	29	17	,	,	PUNCT
fcis-32412	29	18	along	along	ADP
fcis-32412	29	19	with	with	ADP
fcis-32412	29	20	an	an	DET
fcis-32412	29	21	energy	energy	NOUN
fcis-32412	29	22	-	-	PUNCT
fcis-32412	29	23	efficient	efficient	ADJ
fcis-32412	29	24	gpu	gpu	NOUN
fcis-32412	29	25	embedded	embed	VERB
fcis-32412	29	26	in	in	ADP
fcis-32412	29	27	a	a	DET
fcis-32412	29	28	chip	chip	NOUN
fcis-32412	29	29	.	.	PUNCT
fcis-32412	30	1	the	the	DET
fcis-32412	30	2	classical	classical	ADJ
fcis-32412	30	3	stack	stack	NOUN
fcis-32412	30	4	employed	employ	VERB
fcis-32412	30	5	framebased	framebase	VERB
fcis-32412	30	6	percept	percept	PROPN
fcis-32412	30	7	pipelines	pipeline	NOUN
fcis-32412	30	8	and	and	CCONJ
fcis-32412	30	9	compact	compact	ADJ
fcis-32412	30	10	neural	neural	ADJ
fcis-32412	30	11	nets	net	NOUN
fcis-32412	30	12	for	for	ADP
fcis-32412	30	13	policy	policy	NOUN
fcis-32412	30	14	inference	inference	NOUN
fcis-32412	30	15	,	,	PUNCT
fcis-32412	30	16	optimized	optimize	VERB
fcis-32412	30	17	for	for	ADP
fcis-32412	30	18	minimum	minimum	NOUN
fcis-32412	30	19	latency	latency	NOUN
fcis-32412	30	20	and	and	CCONJ
fcis-32412	30	21	power	power	NOUN
fcis-32412	30	22	consumption	consumption	NOUN
fcis-32412	30	23	under	under	ADP
fcis-32412	30	24	hardware	hardware	NOUN
fcis-32412	30	25	limitations[3	limitations[3	PROPN
fcis-32412	30	26	]	]	PUNCT
fcis-32412	30	27	.	.	PUNCT
fcis-32412	31	1	design	design	NOUN
fcis-32412	31	2	of	of	ADP
fcis-32412	31	3	spiking	spike	VERB
fcis-32412	31	4	networks	network	NOUN
fcis-32412	31	5	and	and	CCONJ
fcis-32412	31	6	sensor	sensor	NOUN
fcis-32412	31	7	interfaces	interface	VERB
fcis-32412	31	8	npu	npu	ADJ
fcis-32412	31	9	perception	perception	NOUN
fcis-32412	31	10	modules	module	NOUN
fcis-32412	31	11	took	take	VERB
fcis-32412	31	12	streams	stream	NOUN
fcis-32412	31	13	of	of	ADP
fcis-32412	31	14	events	event	NOUN
fcis-32412	31	15	directly	directly	ADV
fcis-32412	31	16	:	:	PUNCT
fcis-32412	31	17	event	event	NOUN
fcis-32412	31	18	-	-	PUNCT
fcis-32412	31	19	driven	drive	VERB
fcis-32412	31	20	visual	visual	ADJ
fcis-32412	31	21	stimuli	stimulus	NOUN
fcis-32412	31	22	were	be	AUX
fcis-32412	31	23	transformed	transform	VERB
fcis-32412	31	24	to	to	ADP
fcis-32412	31	25	spiking	spike	VERB
fcis-32412	31	26	inputs	input	NOUN
fcis-32412	31	27	by	by	ADP
fcis-32412	31	28	address	address	NOUN
fcis-32412	31	29	-	-	PUNCT
fcis-32412	31	30	event	event	NOUN
fcis-32412	31	31	representation	representation	NOUN
fcis-32412	31	32	,	,	PUNCT
fcis-32412	31	33	tactile	tactile	ADJ
fcis-32412	31	34	arrays	array	NOUN
fcis-32412	31	35	sent	send	VERB
fcis-32412	31	36	spike	spike	ADJ
fcis-32412	31	37	trains	train	NOUN
fcis-32412	31	38	in	in	ADP
fcis-32412	31	39	proportion	proportion	NOUN
fcis-32412	31	40	to	to	PART
fcis-32412	31	41	contact	contact	VERB
fcis-32412	31	42	event	event	NOUN
fcis-32412	31	43	rates	rate	NOUN
fcis-32412	31	44	,	,	PUNCT
fcis-32412	31	45	and	and	CCONJ
fcis-32412	31	46	imu	imu	NOUN
fcis-32412	31	47	/	/	SYM
fcis-32412	31	48	pro	pro	ADJ
fcis-32412	31	49	proprioceptive	proprioceptive	ADJ
fcis-32412	31	50	inputs	input	NOUN
fcis-32412	31	51	were	be	AUX
fcis-32412	31	52	encoded	encode	VERB
fcis-32412	31	53	in	in	ADP
fcis-32412	31	54	terms	term	NOUN
fcis-32412	31	55	of	of	ADP
fcis-32412	31	56	a	a	DET
fcis-32412	31	57	population	population	NOUN
fcis-32412	31	58	spike	spike	NOUN
fcis-32412	31	59	code[4	code[4	NOUN
fcis-32412	31	60	]	]	PUNCT
fcis-32412	31	61	.	.	PUNCT
fcis-32412	32	1	visual	visual	ADJ
fcis-32412	32	2	feature	feature	NOUN
fcis-32412	32	3	detection	detection	NOUN
fcis-32412	32	4	used	use	VERB
fcis-32412	32	5	a	a	DET
fcis-32412	32	6	hierarchical	hierarchical	ADJ
fcis-32412	32	7	spiking	spike	VERB
fcis-32412	32	8	convolutional	convolutional	ADJ
fcis-32412	32	9	network	network	NOUN
fcis-32412	32	10	with	with	ADP
fcis-32412	32	11	temporal	temporal	ADJ
fcis-32412	32	12	filters	filter	NOUN
fcis-32412	32	13	and	and	CCONJ
fcis-32412	32	14	spatial	spatial	ADJ
fcis-32412	32	15	feature	feature	NOUN
fcis-32412	32	16	detectors[5	detectors[5	PROPN
fcis-32412	32	17	]	]	PUNCT
fcis-32412	32	18	.	.	PUNCT
fcis-32412	33	1	motor	motor	NOUN
fcis-32412	33	2	policies	policy	NOUN
fcis-32412	33	3	were	be	AUX
fcis-32412	33	4	as	as	SCONJ
fcis-32412	33	5	snn	snn	PROPN
fcis-32412	33	6	controllers	controller	NOUN
fcis-32412	33	7	converting	convert	VERB
fcis-32412	33	8	proprioceptive	proprioceptive	ADJ
fcis-32412	33	9	and	and	CCONJ
fcis-32412	33	10	perceptual	perceptual	ADJ
fcis-32412	33	11	spike	spike	NOUN
fcis-32412	33	12	patterns	pattern	NOUN
fcis-32412	33	13	to	to	ADP
fcis-32412	33	14	motor	motor	PROPN
fcis-32412	33	15	command	command	NOUN
fcis-32412	33	16	spike	spike	ADJ
fcis-32412	33	17	trains	train	NOUN
fcis-32412	33	18	;	;	PUNCT
fcis-32412	33	19	a	a	DET
fcis-32412	33	20	low	low	ADJ
fcis-32412	33	21	-	-	PUNCT
fcis-32412	33	22	latency	latency	NOUN
fcis-32412	33	23	spiketo	spiketo	NOUN
fcis-32412	33	24	-	-	PUNCT
fcis-32412	33	25	torque	torque	NOUN
fcis-32412	33	26	interface	interface	NOUN
fcis-32412	33	27	was	be	AUX
fcis-32412	33	28	applied	apply	VERB
fcis-32412	33	29	to	to	PART
fcis-32412	33	30	convert	convert	VERB
fcis-32412	33	31	these	these	PRON
fcis-32412	33	32	to	to	ADP
fcis-32412	33	33	actuator	actuator	NOUN
fcis-32412	33	34	commands	command	NOUN
fcis-32412	33	35	.	.	PUNCT
fcis-32412	34	1	we	we	PRON
fcis-32412	34	2	formulated	formulate	VERB
fcis-32412	34	3	local	local	ADJ
fcis-32412	34	4	adaptation	adaptation	NOUN
fcis-32412	34	5	rules	rule	NOUN
fcis-32412	34	6	specific	specific	ADJ
fcis-32412	34	7	to	to	ADP
fcis-32412	34	8	embodied	embodied	ADJ
fcis-32412	34	9	behavior	behavior	NOUN
fcis-32412	34	10	:	:	PUNCT
fcis-32412	34	11	unsupervised	unsupervised	ADJ
fcis-32412	34	12	stdp	stdp	NOUN
fcis-32412	34	13	for	for	ADP
fcis-32412	34	14	initial	initial	ADJ
fcis-32412	34	15	sensory	sensory	ADJ
fcis-32412	34	16	feature	feature	NOUN
fcis-32412	34	17	discovery	discovery	NOUN
fcis-32412	34	18	,	,	PUNCT
fcis-32412	34	19	and	and	CCONJ
fcis-32412	34	20	a	a	DET
fcis-32412	34	21	three	three	NUM
fcis-32412	34	22	-	-	PUNCT
fcis-32412	34	23	factor	factor	NOUN
fcis-32412	34	24	,	,	PUNCT
fcis-32412	34	25	reward	reward	NOUN
fcis-32412	34	26	-	-	PUNCT
fcis-32412	34	27	dependent	dependent	ADJ
fcis-32412	34	28	adaptation	adaptation	NOUN
fcis-32412	34	29	rule	rule	NOUN
fcis-32412	34	30	for	for	ADP
fcis-32412	34	31	control	control	NOUN
fcis-32412	34	32	adaptation	adaptation	NOUN
fcis-32412	34	33	.	.	PUNCT
fcis-32412	35	1	the	the	DET
fcis-32412	35	2	reward	reward	NOUN
fcis-32412	35	3	was	be	AUX
fcis-32412	35	4	extracted	extract	VERB
fcis-32412	35	5	from	from	ADP
fcis-32412	35	6	subsystem	subsystem	NOUN
fcis-32412	35	7	-	-	PUNCT
fcis-32412	35	8	specific	specific	ADJ
fcis-32412	35	9	performance	performance	NOUN
fcis-32412	35	10	indicators	indicator	NOUN
fcis-32412	35	11	calculated	calculate	VERB
fcis-32412	35	12	locally	locally	ADV
fcis-32412	35	13	(	(	PUNCT
fcis-32412	35	14	e.g.	e.g.	ADV
fcis-32412	35	15	,	,	PUNCT
fcis-32412	35	16	error	error	NOUN
fcis-32412	35	17	in	in	ADP
fcis-32412	35	18	balance	balance	NOUN
fcis-32412	35	19	,	,	PUNCT
fcis-32412	35	20	grasp	grasp	NOUN
fcis-32412	35	21	succeed	succeed	PROPN
fcis-32412	35	22	indicator	indicator	NOUN
fcis-32412	35	23	)	)	PUNCT
fcis-32412	35	24	,	,	PUNCT
fcis-32412	35	25	transmitted	transmit	VERB
fcis-32412	35	26	as	as	ADP
fcis-32412	35	27	neuromodulatory	neuromodulatory	ADJ
fcis-32412	35	28	spikes	spike	NOUN
fcis-32412	35	29	to	to	ADP
fcis-32412	35	30	gating	gate	VERB
fcis-32412	35	31	synapses	synapsis	NOUN
fcis-32412	35	32	.	.	PUNCT
fcis-32412	36	1	task	task	NOUN
fcis-32412	36	2	and	and	CCONJ
fcis-32412	36	3	evaluation	evaluation	NOUN
fcis-32412	36	4	metric	metric	ADJ
fcis-32412	36	5	three	three	NUM
fcis-32412	36	6	closed	close	VERB
fcis-32412	36	7	-	-	PUNCT
fcis-32412	36	8	loop	loop	NOUN
fcis-32412	36	9	experiments	experiment	NOUN
fcis-32412	36	10	emphasized	emphasize	VERB
fcis-32412	36	11	different	different	ADJ
fcis-32412	36	12	facets	facet	NOUN
fcis-32412	36	13	of	of	ADP
fcis-32412	36	14	embodied	embody	VERB
fcis-32412	36	15	cognition	cognition	NOUN
fcis-32412	36	16	:	:	PUNCT
fcis-32412	36	17	recovery	recovery	NOUN
fcis-32412	36	18	from	from	ADP
fcis-32412	36	19	reactive	reactive	ADJ
fcis-32412	36	20	balance	balance	NOUN
fcis-32412	36	21	loss	loss	NOUN
fcis-32412	36	22	:	:	PUNCT
fcis-32412	36	23	the	the	DET
fcis-32412	36	24	robot	robot	NOUN
fcis-32412	36	25	stood	stand	VERB
fcis-32412	36	26	in	in	ADP
fcis-32412	36	27	upright	upright	ADJ
fcis-32412	36	28	position	position	NOUN
fcis-32412	36	29	and	and	CCONJ
fcis-32412	36	30	was	be	AUX
fcis-32412	36	31	provided	provide	VERB
fcis-32412	36	32	with	with	ADP
fcis-32412	36	33	randomized	randomized	ADJ
fcis-32412	36	34	lateral	lateral	ADJ
fcis-32412	36	35	perturbations	perturbation	NOUN
fcis-32412	36	36	.	.	PUNCT
fcis-32412	37	1	parameters	parameter	NOUN
fcis-32412	37	2	consisted	consist	VERB
fcis-32412	37	3	of	of	ADP
fcis-32412	37	4	time	time	NOUN
fcis-32412	37	5	-	-	PUNCT
fcis-32412	37	6	to	to	ADP
fcis-32412	37	7	-	-	PUNCT
fcis-32412	37	8	recovery	recovery	NOUN
fcis-32412	37	9	,	,	PUNCT
fcis-32412	37	10	maximum	maximum	ADJ
fcis-32412	37	11	center	center	NOUN
fcis-32412	37	12	-	-	PUNCT
fcis-32412	37	13	of	of	ADP
fcis-32412	37	14	-	-	PUNCT
fcis-32412	37	15	mass	mass	NOUN
fcis-32412	37	16	deviation	deviation	NOUN
fcis-32412	37	17	,	,	PUNCT
fcis-32412	37	18	and	and	CCONJ
fcis-32412	37	19	corrective	corrective	ADJ
fcis-32412	37	20	steps	step	NOUN
fcis-32412	37	21	.	.	PUNCT
fcis-32412	38	1	tactile	tactile	NOUN
fcis-32412	38	2	-	-	PUNCT
fcis-32412	38	3	guided	guide	VERB
fcis-32412	38	4	manipulation	manipulation	NOUN
fcis-32412	38	5	of	of	ADP
fcis-32412	38	6	objects	object	NOUN
fcis-32412	38	7	:	:	PUNCT
fcis-32412	38	8	the	the	DET
fcis-32412	38	9	robot	robot	NOUN
fcis-32412	38	10	manipulated	manipulate	VERB
fcis-32412	38	11	and	and	CCONJ
fcis-32412	38	12	grasped	grasp	VERB
fcis-32412	38	13	objects	object	NOUN
fcis-32412	38	14	of	of	ADP
fcis-32412	38	15	variable	variable	ADJ
fcis-32412	38	16	compliance	compliance	NOUN
fcis-32412	38	17	and	and	CCONJ
fcis-32412	38	18	orientation	orientation	NOUN
fcis-32412	38	19	in	in	ADP
fcis-32412	38	20	response	response	NOUN
fcis-32412	38	21	to	to	PART
fcis-32412	38	22	tactile	tactile	VERB
fcis-32412	38	23	input	input	NOUN
fcis-32412	38	24	to	to	PART
fcis-32412	38	25	adjust	adjust	VERB
fcis-32412	38	26	grip	grip	NOUN
fcis-32412	38	27	and	and	CCONJ
fcis-32412	38	28	direction	direction	NOUN
fcis-32412	38	29	of	of	ADP
fcis-32412	38	30	motion	motion	NOUN
fcis-32412	38	31	.	.	PUNCT
fcis-32412	39	1	performance	performance	NOUN
fcis-32412	39	2	measures	measure	NOUN
fcis-32412	39	3	included	include	VERB
fcis-32412	39	4	succeeding	succeed	VERB
fcis-32412	39	5	rate	rate	NOUN
fcis-32412	39	6	,	,	PUNCT
fcis-32412	39	7	grasp	grasp	NOUN
fcis-32412	39	8	stability	stability	NOUN
fcis-32412	39	9	,	,	PUNCT
fcis-32412	39	10	and	and	CCONJ
fcis-32412	39	11	manipulation	manipulation	NOUN
fcis-32412	39	12	latency	latency	NOUN
fcis-32412	39	13	.	.	PUNCT
fcis-32412	40	1	rapid	rapid	ADJ
fcis-32412	40	2	visuomotor	visuomotor	NOUN
fcis-32412	40	3	reaching	reach	VERB
fcis-32412	40	4	during	during	ADP
fcis-32412	40	5	perturbation	perturbation	NOUN
fcis-32412	40	6	:	:	PUNCT
fcis-32412	40	7	the	the	DET
fcis-32412	40	8	robot	robot	NOUN
fcis-32412	40	9	performed	perform	VERB
fcis-32412	40	10	visually	visually	ADV
fcis-32412	40	11	guided	guide	VERB
fcis-32412	40	12	pointing	pointing	NOUN
fcis-32412	40	13	and	and	CCONJ
fcis-32412	40	14	reaching	reach	VERB
fcis-32412	40	15	to	to	ADP
fcis-32412	40	16	moving	move	VERB
fcis-32412	40	17	objects	object	NOUN
fcis-32412	40	18	as	as	SCONJ
fcis-32412	40	19	external	external	ADJ
fcis-32412	40	20	perturbations	perturbation	NOUN
fcis-32412	40	21	were	be	AUX
fcis-32412	40	22	applied	apply	VERB
fcis-32412	40	23	to	to	ADP
fcis-32412	40	24	the	the	DET
fcis-32412	40	25	platform	platform	NOUN
fcis-32412	40	26	.	.	PUNCT
fcis-32412	41	1	measures	measure	NOUN
fcis-32412	41	2	included	include	VERB
fcis-32412	41	3	endpoint	endpoint	NOUN
fcis-32412	41	4	accuracy	accuracy	NOUN
fcis-32412	41	5	,	,	PUNCT
fcis-32412	41	6	latency	latency	NOUN
fcis-32412	41	7	from	from	ADP
fcis-32412	41	8	movement	movement	NOUN
fcis-32412	41	9	of	of	ADP
fcis-32412	41	10	target	target	NOUN
fcis-32412	41	11	to	to	ADP
fcis-32412	41	12	correction	correction	NOUN
fcis-32412	41	13	,	,	PUNCT
fcis-32412	41	14	and	and	CCONJ
fcis-32412	41	15	energy	energy	NOUN
fcis-32412	41	16	per	per	ADP
fcis-32412	41	17	trial	trial	NOUN
fcis-32412	41	18	.	.	PUNCT
fcis-32412	42	1	we	we	PRON
fcis-32412	42	2	defined	define	VERB
fcis-32412	42	3	actuation	actuation	NOUN
fcis-32412	42	4	command	command	NOUN
fcis-32412	42	5	release	release	NOUN
fcis-32412	42	6	time	time	NOUN
fcis-32412	42	7	from	from	ADP
fcis-32412	42	8	sensory	sensory	ADJ
fcis-32412	42	9	event	event	NOUN
fcis-32412	42	10	arrival	arrival	NOUN
fcis-32412	42	11	as	as	ADP
fcis-32412	42	12	end	end	NOUN
fcis-32412	42	13	-	-	PUNCT
fcis-32412	42	14	to	to	ADP
fcis-32412	42	15	-	-	PUNCT
fcis-32412	42	16	end	end	NOUN
fcis-32412	42	17	latency	latency	NOUN
fcis-32412	42	18	.	.	PUNCT
fcis-32412	43	1	the	the	DET
fcis-32412	43	2	power	power	NOUN
fcis-32412	43	3	consumption	consumption	NOUN
fcis-32412	43	4	of	of	ADP
fcis-32412	43	5	processing	processing	NOUN
fcis-32412	43	6	equipment	equipment	NOUN
fcis-32412	43	7	(	(	PUNCT
fcis-32412	43	8	npu	npu	ADJ
fcis-32412	43	9	and	and	CCONJ
fcis-32412	43	10	cpu	cpu	ADJ
fcis-32412	43	11	/	/	SYM
fcis-32412	43	12	gpu	gpu	NOUN
fcis-32412	43	13	baseline	baseline	NOUN
fcis-32412	43	14	)	)	PUNCT
fcis-32412	43	15	was	be	AUX
fcis-32412	43	16	measured	measure	VERB
fcis-32412	43	17	during	during	ADP
fcis-32412	43	18	the	the	DET
fcis-32412	43	19	entire	entire	ADJ
fcis-32412	43	20	time	time	NOUN
fcis-32412	43	21	.	.	PUNCT
fcis-32412	44	1	the	the	DET
fcis-32412	44	2	adaptability	adaptability	NOUN
fcis-32412	44	3	was	be	AUX
fcis-32412	44	4	estimated	estimate	VERB
fcis-32412	44	5	by	by	ADP
fcis-32412	44	6	introducing	introduce	VERB
fcis-32412	44	7	new	new	ADJ
fcis-32412	44	8	disturbances	disturbance	NOUN
fcis-32412	44	9	or	or	CCONJ
fcis-32412	44	10	object	object	VERB
fcis-32412	44	11	properties	property	NOUN
fcis-32412	44	12	during	during	ADP
fcis-32412	44	13	experimentation	experimentation	NOUN
fcis-32412	44	14	and	and	CCONJ
fcis-32412	44	15	measuring	measure	VERB
fcis-32412	44	16	recovery	recovery	NOUN
fcis-32412	44	17	without	without	ADP
fcis-32412	44	18	off	off	ADP
fcis-32412	44	19	-	-	PUNCT
fcis-32412	44	20	line	line	NOUN
fcis-32412	44	21	retraining	retraining	NOUN
fcis-32412	44	22	.	.	PUNCT
fcis-32412	45	1	experimental	experimental	ADJ
fcis-32412	45	2	protocol	protocol	NOUN
fcis-32412	45	3	c	c	NOUN
fcis-32412	45	4	each	each	DET
fcis-32412	45	5	experiment	experiment	NOUN
fcis-32412	45	6	was	be	AUX
fcis-32412	45	7	performed	perform	VERB
fcis-32412	45	8	in	in	ADP
fcis-32412	45	9	matched	match	VERB
fcis-32412	45	10	trials	trial	NOUN
fcis-32412	45	11	for	for	ADP
fcis-32412	45	12	the	the	DET
fcis-32412	45	13	neuromorphic	neuromorphic	ADJ
fcis-32412	45	14	and	and	CCONJ
fcis-32412	45	15	standard	standard	ADJ
fcis-32412	45	16	systems	system	NOUN
fcis-32412	45	17	.	.	PUNCT
fcis-32412	46	1	for	for	ADP
fcis-32412	46	2	the	the	DET
fcis-32412	46	3	neuromorphic	neuromorphic	ADJ
fcis-32412	46	4	experiment	experiment	NOUN
fcis-32412	46	5	,	,	PUNCT
fcis-32412	46	6	snns	snn	NOUN
fcis-32412	46	7	were	be	AUX
fcis-32412	46	8	seeded	seed	VERB
fcis-32412	46	9	with	with	ADP
fcis-32412	46	10	light	light	NOUN
fcis-32412	46	11	pretraining	pretraine	VERB
fcis-32412	46	12	of	of	ADP
fcis-32412	46	13	sensory	sensory	ADJ
fcis-32412	46	14	filters	filter	NOUN
fcis-32412	46	15	only	only	ADV
fcis-32412	46	16	;	;	PUNCT
fcis-32412	46	17	control	control	NOUN
fcis-32412	46	18	policies	policy	NOUN
fcis-32412	46	19	were	be	AUX
fcis-32412	46	20	generic	generic	ADJ
fcis-32412	46	21	initially	initially	ADV
fcis-32412	46	22	and	and	CCONJ
fcis-32412	46	23	free	free	ADJ
fcis-32412	46	24	to	to	PART
fcis-32412	46	25	adapt	adapt	VERB
fcis-32412	46	26	online	online	ADV
fcis-32412	46	27	through	through	ADP
fcis-32412	46	28	local	local	ADJ
fcis-32412	46	29	plasticity	plasticity	NOUN
fcis-32412	46	30	.	.	PUNCT
fcis-32412	47	1	for	for	ADP
fcis-32412	47	2	the	the	DET
fcis-32412	47	3	standard	standard	ADJ
fcis-32412	47	4	experiment	experiment	NOUN
fcis-32412	47	5	,	,	PUNCT
fcis-32412	47	6	perception	perception	NOUN
fcis-32412	47	7	and	and	CCONJ
fcis-32412	47	8	policy	policy	NOUN
fcis-32412	47	9	networks	network	NOUN
fcis-32412	47	10	were	be	AUX
fcis-32412	47	11	pre	pre	VERB
fcis-32412	47	12	-	-	VERB
fcis-32412	47	13	trained	train	VERB
fcis-32412	47	14	off	off	ADP
fcis-32412	47	15	-	-	PUNCT
fcis-32412	47	16	line	line	NOUN
fcis-32412	47	17	and	and	CCONJ
fcis-32412	47	18	used	use	VERB
fcis-32412	47	19	for	for	ADP
fcis-32412	47	20	inference	inference	NOUN
fcis-32412	47	21	only	only	ADV
fcis-32412	47	22	;	;	PUNCT
fcis-32412	47	23	adaptation	adaptation	NOUN
fcis-32412	47	24	was	be	AUX
fcis-32412	47	25	based	base	VERB
fcis-32412	47	26	on	on	ADP
fcis-32412	47	27	off	off	ADP
fcis-32412	47	28	-	-	PUNCT
fcis-32412	47	29	line	line	NOUN
fcis-32412	47	30	parameter	parameter	NOUN
fcis-32412	47	31	updates	update	NOUN
fcis-32412	47	32	carried	carry	VERB
fcis-32412	47	33	out	out	ADP
fcis-32412	47	34	between	between	ADP
fcis-32412	47	35	trials	trial	NOUN
fcis-32412	47	36	and	and	CCONJ
fcis-32412	47	37	was	be	AUX
fcis-32412	47	38	thereby	thereby	ADV
fcis-32412	47	39	switched	switch	VERB
fcis-32412	47	40	off	off	ADP
fcis-32412	47	41	during	during	ADP
fcis-32412	47	42	real	real	ADJ
fcis-32412	47	43	-	-	PUNCT
fcis-32412	47	44	time	time	NOUN
fcis-32412	47	45	comparison	comparison	NOUN
fcis-32412	47	46	.	.	PUNCT
fcis-32412	48	1	trials	trial	NOUN
fcis-32412	48	2	were	be	AUX
fcis-32412	48	3	randomized	randomize	VERB
fcis-32412	48	4	and	and	CCONJ
fcis-32412	48	5	replicated	replicate	VERB
fcis-32412	48	6	over	over	ADP
fcis-32412	48	7	several	several	ADJ
fcis-32412	48	8	sessions	session	NOUN
fcis-32412	48	9	and	and	CCONJ
fcis-32412	48	10	robot	robot	NOUN
fcis-32412	48	11	instances	instance	NOUN
fcis-32412	48	12	to	to	PART
fcis-32412	48	13	evaluate	evaluate	VERB
fcis-32412	48	14	repeatability	repeatability	NOUN
fcis-32412	48	15	.	.	PUNCT
fcis-32412	49	1	statistical	statistical	ADJ
fcis-32412	49	2	comparisons	comparison	NOUN
fcis-32412	49	3	used	use	VERB
fcis-32412	49	4	task	task	NOUN
fcis-32412	49	5	measures	measure	NOUN
fcis-32412	49	6	,	,	PUNCT
fcis-32412	49	7	latencies	latency	NOUN
fcis-32412	49	8	,	,	PUNCT
fcis-32412	49	9	and	and	CCONJ
fcis-32412	49	10	energy	energy	NOUN
fcis-32412	49	11	between	between	ADP
fcis-32412	49	12	experiments	experiment	NOUN
fcis-32412	49	13	.	.	PUNCT
fcis-32412	50	1	3	3	X
fcis-32412	50	2	.	.	NOUN
fcis-32412	50	3	results	result	VERB
fcis-32412	50	4	the	the	DET
fcis-32412	50	5	neuromorphic	neuromorphic	ADJ
fcis-32412	50	6	pipeline	pipeline	NOUN
fcis-32412	50	7	exhibited	exhibit	VERB
fcis-32412	50	8	markedly	markedly	ADV
fcis-32412	50	9	lower	low	ADJ
fcis-32412	50	10	endto	endto	NOUN
fcis-32412	50	11	-	-	PUNCT
fcis-32412	50	12	end	end	NOUN
fcis-32412	50	13	latencies	latency	NOUN
fcis-32412	50	14	in	in	ADP
fcis-32412	50	15	every	every	DET
fcis-32412	50	16	task	task	NOUN
fcis-32412	50	17	relative	relative	ADJ
fcis-32412	50	18	to	to	ADP
fcis-32412	50	19	the	the	DET
fcis-32412	50	20	traditional	traditional	ADJ
fcis-32412	50	21	baseline	baseline	NOUN
fcis-32412	50	22	.	.	PUNCT
fcis-32412	51	1	median	median	ADJ
fcis-32412	51	2	latency	latency	NOUN
fcis-32412	51	3	from	from	ADP
fcis-32412	51	4	sensor	sensor	NOUN
fcis-32412	51	5	inputs	input	NOUN
fcis-32412	51	6	to	to	PART
fcis-32412	51	7	actuation	actuation	NOUN
fcis-32412	51	8	in	in	ADP
fcis-32412	51	9	event	event	NOUN
fcis-32412	51	10	-	-	PUNCT
fcis-32412	51	11	driven	drive	VERB
fcis-32412	51	12	touch	touch	NOUN
fcis-32412	51	13	and	and	CCONJ
fcis-32412	51	14	vision	vision	NOUN
fcis-32412	51	15	loops	loop	NOUN
fcis-32412	51	16	in	in	ADP
fcis-32412	51	17	the	the	DET
fcis-32412	51	18	npu	npu	NOUN
fcis-32412	51	19	was	be	AUX
fcis-32412	51	20	several	several	ADJ
fcis-32412	51	21	times	time	NOUN
fcis-32412	51	22	lower	low	ADJ
fcis-32412	51	23	,	,	PUNCT
fcis-32412	51	24	permitting	permit	VERB
fcis-32412	51	25	corrective	corrective	ADJ
fcis-32412	51	26	action	action	NOUN
fcis-32412	51	27	in	in	ADP
fcis-32412	51	28	tens	ten	NOUN
fcis-32412	51	29	of	of	ADP
fcis-32412	51	30	milliseconds	millisecond	NOUN
fcis-32412	51	31	or	or	CCONJ
fcis-32412	51	32	sooner	soon	ADV
fcis-32412	51	33	than	than	ADP
fcis-32412	51	34	the	the	DET
fcis-32412	51	35	baseline	baseline	NOUN
fcis-32412	51	36	's	's	PART
fcis-32412	51	37	frame	frame	NOUN
fcis-32412	51	38	-	-	PUNCT
fcis-32412	51	39	based	base	VERB
fcis-32412	51	40	processing	processing	NOUN
fcis-32412	51	41	latency	latency	NOUN
fcis-32412	51	42	.	.	PUNCT
fcis-32412	52	1	active	active	ADJ
fcis-32412	52	2	-	-	PUNCT
fcis-32412	52	3	task	task	NOUN
fcis-32412	52	4	power	power	NOUN
fcis-32412	52	5	was	be	AUX
fcis-32412	52	6	several	several	ADJ
fcis-32412	52	7	times	time	NOUN
fcis-32412	52	8	lower	low	ADJ
fcis-32412	52	9	for	for	SCONJ
fcis-32412	52	10	the	the	DET
fcis-32412	52	11	neuromorphic	neuromorphic	ADJ
fcis-32412	52	12	chip	chip	NOUN
fcis-32412	52	13	relative	relative	ADJ
fcis-32412	52	14	to	to	ADP
fcis-32412	52	15	the	the	DET
fcis-32412	52	16	cpu	cpu	PROPN
fcis-32412	52	17	/	/	SYM
fcis-32412	52	18	gpu	gpu	NOUN
fcis-32412	52	19	stack	stack	NOUN
fcis-32412	52	20	,	,	PUNCT
fcis-32412	52	21	corresponding	correspond	VERB
fcis-32412	52	22	to	to	PART
fcis-32412	52	23	lower	lower	VERB
fcis-32412	52	24	energy	energy	NOUN
fcis-32412	52	25	in	in	ADP
fcis-32412	52	26	successful	successful	ADJ
fcis-32412	52	27	trials	trial	NOUN
fcis-32412	52	28	.	.	PUNCT
fcis-32412	53	1	the	the	DET
fcis-32412	53	2	energy	energy	NOUN
fcis-32412	53	3	-	-	PUNCT
fcis-32412	53	4	latency	latency	NOUN
fcis-32412	53	5	trade	trade	NOUN
fcis-32412	53	6	was	be	AUX
fcis-32412	53	7	in	in	ADP
fcis-32412	53	8	favor	favor	NOUN
fcis-32412	53	9	of	of	ADP
fcis-32412	53	10	the	the	DET
fcis-32412	53	11	neuromorphic	neuromorphic	ADJ
fcis-32412	53	12	approach	approach	NOUN
fcis-32412	53	13	,	,	PUNCT
fcis-32412	53	14	particularly	particularly	ADV
fcis-32412	53	15	in	in	ADP
fcis-32412	53	16	high	high	ADJ
fcis-32412	53	17	-	-	PUNCT
fcis-32412	53	18	frequency	frequency	NOUN
fcis-32412	53	19	sensorimotor	sensorimotor	NOUN
fcis-32412	53	20	loops	loop	NOUN
fcis-32412	53	21	where	where	SCONJ
fcis-32412	53	22	event	event	NOUN
fcis-32412	53	23	-	-	PUNCT
fcis-32412	53	24	driven	drive	VERB
fcis-32412	53	25	sparse	sparse	ADJ
fcis-32412	53	26	computation	computation	NOUN
fcis-32412	53	27	skipped	skip	VERB
fcis-32412	53	28	unnecessary	unnecessary	ADJ
fcis-32412	53	29	processing	processing	NOUN
fcis-32412	53	30	.	.	PUNCT
fcis-32412	54	1	neuromorphic	neuromorphic	ADJ
fcis-32412	54	2	and	and	CCONJ
fcis-32412	54	3	conventional	conventional	ADJ
fcis-32412	54	4	system	system	NOUN
fcis-32412	54	5	success	success	NOUN
fcis-32412	54	6	rates	rate	NOUN
fcis-32412	54	7	in	in	ADP
fcis-32412	54	8	tasks	task	NOUN
fcis-32412	54	9	were	be	AUX
fcis-32412	54	10	comparable	comparable	ADJ
fcis-32412	54	11	in	in	ADP
fcis-32412	54	12	the	the	DET
fcis-32412	54	13	three	three	NUM
fcis-32412	54	14	tasks	task	NOUN
fcis-32412	54	15	,	,	PUNCT
fcis-32412	54	16	in	in	ADP
fcis-32412	54	17	which	which	PRON
fcis-32412	54	18	neuromorphic	neuromorphic	ADJ
fcis-32412	54	19	controllers	controller	NOUN
fcis-32412	54	20	achieved	achieve	VERB
fcis-32412	54	21	similar	similar	ADJ
fcis-32412	54	22	or	or	CCONJ
fcis-32412	54	23	slightly	slightly	ADV
fcis-32412	54	24	superior	superior	ADJ
fcis-32412	54	25	endpoint	endpoint	NOUN
fcis-32412	54	26	accuracy	accuracy	NOUN
fcis-32412	54	27	in	in	ADP
fcis-32412	54	28	fast	fast	ADV
fcis-32412	54	29	reaching	reach	VERB
fcis-32412	54	30	and	and	CCONJ
fcis-32412	54	31	higher	high	ADJ
fcis-32412	54	32	grasp	grasp	NOUN
fcis-32412	54	33	stability	stability	NOUN
fcis-32412	54	34	in	in	ADP
fcis-32412	54	35	tactile	tactile	ADJ
fcis-32412	54	36	manipulation	manipulation	NOUN
fcis-32412	54	37	.	.	PUNCT
fcis-32412	55	1	for	for	ADP
fcis-32412	55	2	reactive	reactive	ADJ
fcis-32412	55	3	recovery	recovery	NOUN
fcis-32412	55	4	from	from	ADP
fcis-32412	55	5	loss	loss	NOUN
fcis-32412	55	6	of	of	ADP
fcis-32412	55	7	balance	balance	NOUN
fcis-32412	55	8	,	,	PUNCT
fcis-32412	55	9	both	both	DET
fcis-32412	55	10	systems	system	NOUN
fcis-32412	55	11	recovered	recover	VERB
fcis-32412	55	12	to	to	ADP
fcis-32412	55	13	upright	upright	ADJ
fcis-32412	55	14	following	follow	VERB
fcis-32412	55	15	nominal	nominal	ADJ
fcis-32412	55	16	perturbations	perturbation	NOUN
fcis-32412	55	17	,	,	PUNCT
fcis-32412	55	18	but	but	CCONJ
fcis-32412	55	19	where	where	SCONJ
fcis-32412	55	20	there	there	PRON
fcis-32412	55	21	were	be	VERB
fcis-32412	55	22	sudden	sudden	ADJ
fcis-32412	55	23	,	,	PUNCT
fcis-32412	55	24	highfrequency	highfrequency	NOUN
fcis-32412	55	25	perturbations	perturbation	NOUN
fcis-32412	55	26	,	,	PUNCT
fcis-32412	55	27	the	the	DET
fcis-32412	55	28	neuromorphic	neuromorphic	ADJ
fcis-32412	55	29	system	system	NOUN
fcis-32412	55	30	recovered	recover	VERB
fcis-32412	55	31	sooner	soon	ADV
fcis-32412	55	32	as	as	SCONJ
fcis-32412	55	33	it	it	PRON
fcis-32412	55	34	reduced	reduce	VERB
fcis-32412	55	35	peak	peak	NOUN
fcis-32412	55	36	center	center	NOUN
fcis-32412	55	37	-	-	PUNCT
fcis-32412	55	38	of	of	ADP
fcis-32412	55	39	-	-	PUNCT
fcis-32412	55	40	mass	mass	NOUN
fcis-32412	55	41	excursions	excursion	NOUN
fcis-32412	55	42	and	and	CCONJ
fcis-32412	55	43	corrective	corrective	ADJ
fcis-32412	55	44	step	step	NOUN
fcis-32412	55	45	numbers	number	NOUN
fcis-32412	55	46	in	in	ADP
fcis-32412	55	47	such	such	ADJ
fcis-32412	55	48	situations	situation	NOUN
fcis-32412	55	49	.	.	PUNCT
fcis-32412	56	1	a	a	DET
fcis-32412	56	2	characteristic	characteristic	ADJ
fcis-32412	56	3	strength	strength	NOUN
fcis-32412	56	4	of	of	ADP
fcis-32412	56	5	the	the	DET
fcis-32412	56	6	neuromorphic	neuromorphic	ADJ
fcis-32412	56	7	system	system	NOUN
fcis-32412	56	8	was	be	AUX
fcis-32412	56	9	its	its	PRON
fcis-32412	56	10	ability	ability	NOUN
fcis-32412	56	11	to	to	PART
fcis-32412	56	12	rapidly	rapidly	ADV
fcis-32412	56	13	adapt	adapt	VERB
fcis-32412	56	14	on	on	ADP
fcis-32412	56	15	-	-	PUNCT
fcis-32412	56	16	line	line	NOUN
fcis-32412	56	17	through	through	ADP
fcis-32412	56	18	local	local	ADJ
fcis-32412	56	19	plasticity	plasticity	NOUN
fcis-32412	56	20	.	.	PUNCT
fcis-32412	57	1	when	when	SCONJ
fcis-32412	57	2	faced	face	VERB
fcis-32412	57	3	with	with	ADP
fcis-32412	57	4	a	a	DET
fcis-32412	57	5	rapid	rapid	ADJ
fcis-32412	57	6	compliance	compliance	NOUN
fcis-32412	57	7	transition	transition	NOUN
fcis-32412	57	8	of	of	ADP
fcis-32412	57	9	manipulated	manipulate	VERB
fcis-32412	57	10	objects	object	NOUN
fcis-32412	57	11	during	during	ADP
fcis-32412	57	12	trials	trial	NOUN
fcis-32412	57	13	,	,	PUNCT
fcis-32412	57	14	the	the	DET
fcis-32412	57	15	npu	npu	ADV
fcis-32412	57	16	-	-	PUNCT
fcis-32412	57	17	based	base	VERB
fcis-32412	57	18	controller	controller	NOUN
fcis-32412	57	19	adapted	adapt	VERB
fcis-32412	57	20	grip	grip	NOUN
fcis-32412	57	21	parameters	parameter	NOUN
fcis-32412	57	22	in	in	ADP
fcis-32412	57	23	a	a	DET
fcis-32412	57	24	few	few	ADJ
fcis-32412	57	25	trials	trial	NOUN
fcis-32412	57	26	and	and	CCONJ
fcis-32412	57	27	recovered	recover	VERB
fcis-32412	57	28	high	high	ADJ
fcis-32412	57	29	success	success	NOUN
fcis-32412	57	30	levels	level	NOUN
fcis-32412	57	31	without	without	ADP
fcis-32412	57	32	centralized	centralized	ADJ
fcis-32412	57	33	retraining	retraining	NOUN
fcis-32412	57	34	.	.	PUNCT
fcis-32412	58	1	correspondingly	correspondingly	ADV
fcis-32412	58	2	,	,	PUNCT
fcis-32412	58	3	when	when	SCONJ
fcis-32412	58	4	robot	robot	NOUN
fcis-32412	58	5	joint	joint	NOUN
fcis-32412	58	6	damping	damp	VERB
fcis-32412	58	7	was	be	AUX
fcis-32412	58	8	transitioned	transition	VERB
fcis-32412	58	9	rapidly	rapidly	ADV
fcis-32412	58	10	,	,	PUNCT
fcis-32412	58	11	the	the	DET
fcis-32412	58	12	neuromorphic	neuromorphic	ADJ
fcis-32412	58	13	controller	controller	NOUN
fcis-32412	58	14	recovered	recover	VERB
fcis-32412	58	15	control	control	NOUN
fcis-32412	58	16	gains	gain	NOUN
fcis-32412	58	17	through	through	ADP
fcis-32412	58	18	reward	reward	NOUN
fcis-32412	58	19	-	-	PUNCT
fcis-32412	58	20	modulated	modulate	VERB
fcis-32412	58	21	synaptic	synaptic	ADJ
fcis-32412	58	22	adaptation	adaptation	NOUN
fcis-32412	58	23	and	and	CCONJ
fcis-32412	58	24	recovered	recover	VERB
fcis-32412	58	25	stable	stable	ADJ
fcis-32412	58	26	balance	balance	NOUN
fcis-32412	58	27	faster	fast	ADV
fcis-32412	58	28	than	than	ADP
fcis-32412	58	29	the	the	DET
fcis-32412	58	30	non	non	ADJ
fcis-32412	58	31	-	-	ADJ
fcis-32412	58	32	adapting	adapting	ADJ
fcis-32412	58	33	conventional	conventional	ADJ
fcis-32412	58	34	controller	controller	NOUN
fcis-32412	58	35	.	.	PUNCT
fcis-32412	59	1	these	these	DET
fcis-32412	59	2	adoptions	adoption	NOUN
fcis-32412	59	3	were	be	AUX
fcis-32412	59	4	achieved	achieve	VERB
fcis-32412	59	5	at	at	ADP
fcis-32412	59	6	minimal	minimal	ADJ
fcis-32412	59	7	added	add	VERB
fcis-32412	59	8	latency	latency	NOUN
fcis-32412	59	9	and	and	CCONJ
fcis-32412	59	10	negligible	negligible	ADJ
fcis-32412	59	11	energetic	energetic	ADJ
fcis-32412	59	12	cost	cost	NOUN
fcis-32412	59	13	,	,	PUNCT
fcis-32412	59	14	validating	validate	VERB
fcis-32412	59	15	the	the	DET
fcis-32412	59	16	possibility	possibility	NOUN
fcis-32412	59	17	of	of	ADP
fcis-32412	59	18	continuous	continuous	ADJ
fcis-32412	59	19	learning	learning	NOUN
fcis-32412	59	20	in	in	ADP
fcis-32412	59	21	embodied	embodied	ADJ
fcis-32412	59	22	situations	situation	NOUN
fcis-32412	59	23	.	.	PUNCT
fcis-32412	60	1	the	the	DET
fcis-32412	60	2	event	event	NOUN
fcis-32412	60	3	-	-	PUNCT
fcis-32412	60	4	based	base	VERB
fcis-32412	60	5	snn	snn	PROPN
fcis-32412	60	6	architecture	architecture	NOUN
fcis-32412	60	7	scaled	scale	VERB
fcis-32412	60	8	well	well	ADV
fcis-32412	60	9	to	to	ADP
fcis-32412	60	10	larger	large	ADJ
fcis-32412	60	11	sensor	sensor	NOUN
fcis-32412	60	12	bandwidths	bandwidth	NOUN
fcis-32412	60	13	:	:	PUNCT
fcis-32412	60	14	as	as	SCONJ
fcis-32412	60	15	event	event	NOUN
fcis-32412	60	16	rates	rate	NOUN
fcis-32412	60	17	for	for	ADP
fcis-32412	60	18	visual	visual	ADJ
fcis-32412	60	19	or	or	CCONJ
fcis-32412	60	20	tactile	tactile	ADJ
fcis-32412	60	21	input	input	NOUN
fcis-32412	60	22	went	go	VERB
fcis-32412	60	23	up	up	ADP
fcis-32412	60	24	proportionally	proportionally	ADV
fcis-32412	60	25	with	with	ADP
fcis-32412	60	26	environmental	environmental	ADJ
fcis-32412	60	27	complexity	complexity	NOUN
fcis-32412	60	28	,	,	PUNCT
fcis-32412	60	29	computation	computation	NOUN
fcis-32412	60	30	scaled	scale	VERB
fcis-32412	60	31	an	an	DET
fcis-32412	60	32	equivalent	equivalent	ADJ
fcis-32412	60	33	amount	amount	NOUN
fcis-32412	60	34	to	to	ADP
fcis-32412	60	35	event	event	NOUN
fcis-32412	60	36	sparsity	sparsity	NOUN
fcis-32412	60	37	,	,	PUNCT
fcis-32412	60	38	avoiding	avoid	VERB
fcis-32412	60	39	linear	linear	NOUN
fcis-32412	60	40	scaling	scale	VERB
fcis-32412	60	41	overheads	overhead	NOUN
fcis-32412	60	42	in	in	ADP
fcis-32412	60	43	frame	frame	NOUN
fcis-32412	60	44	-	-	PUNCT
fcis-32412	60	45	based	base	VERB
fcis-32412	60	46	pipelines	pipeline	NOUN
fcis-32412	60	47	.	.	PUNCT
fcis-32412	61	1	the	the	DET
fcis-32412	61	2	neuromorphic	neuromorphic	ADJ
fcis-32412	61	3	controller	controller	NOUN
fcis-32412	61	4	exhibited	exhibit	VERB
fcis-32412	61	5	robustness	robustness	NOUN
fcis-32412	61	6	to	to	ADP
fcis-32412	61	7	sensor	sensor	NOUN
fcis-32412	61	8	noise	noise	NOUN
fcis-32412	61	9	by	by	ADP
fcis-32412	61	10	leveraging	leverage	VERB
fcis-32412	61	11	sparse	sparse	ADJ
fcis-32412	61	12	,	,	PUNCT
fcis-32412	61	13	temporally	temporally	ADV
fcis-32412	61	14	precise	precise	ADJ
fcis-32412	61	15	spike	spike	ADJ
fcis-32412	61	16	codes	code	NOUN
fcis-32412	61	17	and	and	CCONJ
fcis-32412	61	18	local	local	ADJ
fcis-32412	61	19	plasticity	plasticity	NOUN
fcis-32412	61	20	mechanisms	mechanism	NOUN
fcis-32412	61	21	to	to	PART
fcis-32412	61	22	suppress	suppress	VERB
fcis-32412	61	23	spurious	spurious	ADJ
fcis-32412	61	24	input	input	NOUN
fcis-32412	61	25	influence	influence	NOUN
fcis-32412	61	26	.	.	PUNCT
fcis-32412	62	1	the	the	DET
fcis-32412	62	2	conventional	conventional	ADJ
fcis-32412	62	3	baseline	baseline	NOUN
fcis-32412	62	4	,	,	PUNCT
fcis-32412	62	5	by	by	ADP
fcis-32412	62	6	contrast	contrast	NOUN
fcis-32412	62	7	,	,	PUNCT
fcis-32412	62	8	required	require	VERB
fcis-32412	62	9	additional	additional	ADJ
fcis-32412	62	10	filtering	filtering	NOUN
fcis-32412	62	11	and	and	CCONJ
fcis-32412	62	12	additional	additional	ADJ
fcis-32412	62	13	computation	computation	NOUN
fcis-32412	62	14	to	to	PART
fcis-32412	62	15	scale	scale	VERB
fcis-32412	62	16	robustness	robustness	NOUN
fcis-32412	62	17	in	in	ADP
fcis-32412	62	18	noisier	noisy	ADJ
fcis-32412	62	19	conditions	condition	NOUN
fcis-32412	62	20	.	.	PUNCT
fcis-32412	63	1	4	4	X
fcis-32412	63	2	.	.	X
fcis-32412	63	3	discussion	discussion	NOUN
fcis-32412	63	4	our	our	PRON
fcis-32412	63	5	experiments	experiment	NOUN
fcis-32412	63	6	demonstrate	demonstrate	VERB
fcis-32412	63	7	that	that	SCONJ
fcis-32412	63	8	co	co	VERB
fcis-32412	63	9	-	-	ADJ
fcis-32412	63	10	designed	design	VERB
fcis-32412	63	11	neuromorphic	neuromorphic	ADJ
fcis-32412	63	12	hardware	hardware	NOUN
fcis-32412	63	13	,	,	PUNCT
fcis-32412	63	14	along	along	ADP
fcis-32412	63	15	with	with	ADP
fcis-32412	63	16	spiking	spiking	ADJ
fcis-32412	63	17	network	network	NOUN
fcis-32412	63	18	26	26	NUM
fcis-32412	63	19	architecture	architecture	NOUN
fcis-32412	63	20	and	and	CCONJ
fcis-32412	63	21	local	local	ADJ
fcis-32412	63	22	learning	learning	NOUN
fcis-32412	63	23	rules	rule	NOUN
fcis-32412	63	24	,	,	PUNCT
fcis-32412	63	25	is	be	AUX
fcis-32412	63	26	able	able	ADJ
fcis-32412	63	27	to	to	PART
fcis-32412	63	28	deliver	deliver	VERB
fcis-32412	63	29	powerefficient	powerefficient	NOUN
fcis-32412	63	30	,	,	PUNCT
fcis-32412	63	31	low	low	ADJ
fcis-32412	63	32	-	-	PUNCT
fcis-32412	63	33	latency	latency	NOUN
fcis-32412	63	34	embodied	embody	VERB
fcis-32412	63	35	cognition	cognition	NOUN
fcis-32412	63	36	in	in	ADP
fcis-32412	63	37	humanoid	humanoid	NOUN
fcis-32412	63	38	robots	robot	NOUN
fcis-32412	63	39	,	,	PUNCT
fcis-32412	63	40	while	while	SCONJ
fcis-32412	63	41	still	still	ADV
fcis-32412	63	42	permitting	permit	VERB
fcis-32412	63	43	on	on	ADP
fcis-32412	63	44	-	-	PUNCT
fcis-32412	63	45	line	line	NOUN
fcis-32412	63	46	adaptive	adaptive	ADJ
fcis-32412	63	47	behavior	behavior	NOUN
fcis-32412	63	48	.	.	PUNCT
fcis-32412	64	1	the	the	DET
fcis-32412	64	2	eventdriven	eventdriven	ADJ
fcis-32412	64	3	operation	operation	NOUN
fcis-32412	64	4	of	of	ADP
fcis-32412	64	5	neuromorphic	neuromorphic	ADJ
fcis-32412	64	6	processors	processor	NOUN
fcis-32412	64	7	has	have	VERB
fcis-32412	64	8	a	a	DET
fcis-32412	64	9	natural	natural	ADJ
fcis-32412	64	10	complement	complement	NOUN
fcis-32412	64	11	in	in	ADP
fcis-32412	64	12	the	the	DET
fcis-32412	64	13	sparse	sparse	NOUN
fcis-32412	64	14	,	,	PUNCT
fcis-32412	64	15	temporally	temporally	ADV
fcis-32412	64	16	-	-	PUNCT
fcis-32412	64	17	wealthy	wealthy	ADJ
fcis-32412	64	18	information	information	NOUN
fcis-32412	64	19	streams	stream	VERB
fcis-32412	64	20	output	output	NOUN
fcis-32412	64	21	by	by	ADP
fcis-32412	64	22	modern	modern	ADJ
fcis-32412	64	23	sensors	sensor	NOUN
fcis-32412	64	24	,	,	PUNCT
fcis-32412	64	25	permitting	permit	VERB
fcis-32412	64	26	close	close	ADJ
fcis-32412	64	27	perception	perception	NOUN
fcis-32412	64	28	–	–	PUNCT
fcis-32412	64	29	action	action	NOUN
fcis-32412	64	30	loops	loop	NOUN
fcis-32412	64	31	necessary	necessary	ADJ
fcis-32412	64	32	for	for	ADP
fcis-32412	64	33	reactive	reactive	ADJ
fcis-32412	64	34	and	and	CCONJ
fcis-32412	64	35	adaptive	adaptive	ADJ
fcis-32412	64	36	behavior	behavior	NOUN
fcis-32412	64	37	.	.	PUNCT
fcis-32412	65	1	this	this	DET
fcis-32412	65	2	reduction	reduction	NOUN
fcis-32412	65	3	in	in	ADP
fcis-32412	65	4	end	end	NOUN
fcis-32412	65	5	-	-	PUNCT
fcis-32412	65	6	to	to	ADP
fcis-32412	65	7	-	-	PUNCT
fcis-32412	65	8	end	end	NOUN
fcis-32412	65	9	latency	latency	NOUN
fcis-32412	65	10	is	be	AUX
fcis-32412	65	11	most	most	ADV
fcis-32412	65	12	significant	significant	ADJ
fcis-32412	65	13	for	for	ADP
fcis-32412	65	14	safety	safety	NOUN
fcis-32412	65	15	-	-	PUNCT
fcis-32412	65	16	critical	critical	ADJ
fcis-32412	65	17	reactions	reaction	NOUN
fcis-32412	65	18	such	such	ADJ
fcis-32412	65	19	as	as	ADP
fcis-32412	65	20	recovery	recovery	NOUN
fcis-32412	65	21	from	from	ADP
fcis-32412	65	22	a	a	DET
fcis-32412	65	23	loss	loss	NOUN
fcis-32412	65	24	of	of	ADP
fcis-32412	65	25	balance	balance	NOUN
fcis-32412	65	26	,	,	PUNCT
fcis-32412	65	27	where	where	SCONJ
fcis-32412	65	28	millisecond	millisecond	NOUN
fcis-32412	65	29	reductions	reduction	NOUN
fcis-32412	65	30	are	be	AUX
fcis-32412	65	31	a	a	DET
fcis-32412	65	32	decrease	decrease	NOUN
fcis-32412	65	33	in	in	ADP
fcis-32412	65	34	falls	fall	NOUN
fcis-32412	65	35	and	and	CCONJ
fcis-32412	65	36	reductions	reduction	NOUN
fcis-32412	65	37	in	in	ADP
fcis-32412	65	38	mechanical	mechanical	ADJ
fcis-32412	65	39	stress	stress	NOUN
fcis-32412	65	40	.	.	PUNCT
fcis-32412	66	1	the	the	DET
fcis-32412	66	2	reduction	reduction	NOUN
fcis-32412	66	3	in	in	ADP
fcis-32412	66	4	energy	energy	NOUN
fcis-32412	66	5	extends	extend	VERB
fcis-32412	66	6	operational	operational	ADJ
fcis-32412	66	7	endurance	endurance	NOUN
fcis-32412	66	8	for	for	ADP
fcis-32412	66	9	untethered	untethered	ADJ
fcis-32412	66	10	humanoid	humanoid	ADJ
fcis-32412	66	11	robots	robot	NOUN
fcis-32412	66	12	,	,	PUNCT
fcis-32412	66	13	allowing	allow	VERB
fcis-32412	66	14	longer	long	ADJ
fcis-32412	66	15	missions	mission	NOUN
fcis-32412	66	16	or	or	CCONJ
fcis-32412	66	17	assigning	assign	VERB
fcis-32412	66	18	power	power	NOUN
fcis-32412	66	19	budget	budget	NOUN
fcis-32412	66	20	to	to	ADP
fcis-32412	66	21	other	other	ADJ
fcis-32412	66	22	subsystems	subsystem	NOUN
fcis-32412	66	23	such	such	ADJ
fcis-32412	66	24	as	as	ADP
fcis-32412	66	25	locomotion	locomotion	NOUN
fcis-32412	66	26	or	or	CCONJ
fcis-32412	66	27	communication	communication	NOUN
fcis-32412	66	28	.	.	PUNCT
fcis-32412	67	1	on	on	ADP
fcis-32412	67	2	-	-	PUNCT
fcis-32412	67	3	line	line	NOUN
fcis-32412	67	4	adaptation	adaptation	NOUN
fcis-32412	67	5	by	by	ADP
fcis-32412	67	6	local	local	ADJ
fcis-32412	67	7	plasticity	plasticity	NOUN
fcis-32412	67	8	is	be	AUX
fcis-32412	67	9	a	a	DET
fcis-32412	67	10	major	major	ADJ
fcis-32412	67	11	strength	strength	NOUN
fcis-32412	67	12	relative	relative	ADJ
fcis-32412	67	13	to	to	ADP
fcis-32412	67	14	static	static	ADJ
fcis-32412	67	15	,	,	PUNCT
fcis-32412	67	16	off	off	ADP
fcis-32412	67	17	-	-	PUNCT
fcis-32412	67	18	line	line	NOUN
fcis-32412	67	19	learned	learn	VERB
fcis-32412	67	20	policies	policy	NOUN
fcis-32412	67	21	.	.	PUNCT
fcis-32412	68	1	biological	biological	ADJ
fcis-32412	68	2	nervous	nervous	ADJ
fcis-32412	68	3	systems	system	NOUN
fcis-32412	68	4	employ	employ	VERB
fcis-32412	68	5	local	local	ADJ
fcis-32412	68	6	learning	learning	NOUN
fcis-32412	68	7	for	for	ADP
fcis-32412	68	8	fast	fast	ADJ
fcis-32412	68	9	,	,	PUNCT
fcis-32412	68	10	context	context	NOUN
fcis-32412	68	11	-	-	PUNCT
fcis-32412	68	12	specific	specific	ADJ
fcis-32412	68	13	calibration	calibration	NOUN
fcis-32412	68	14	;	;	PUNCT
fcis-32412	68	15	neuromorphic	neuromorphic	ADJ
fcis-32412	68	16	controllers	controller	NOUN
fcis-32412	68	17	may	may	AUX
fcis-32412	68	18	emulate	emulate	VERB
fcis-32412	68	19	this	this	DET
fcis-32412	68	20	capability	capability	NOUN
fcis-32412	68	21	at	at	ADP
fcis-32412	68	22	the	the	DET
fcis-32412	68	23	hardware	hardware	NOUN
fcis-32412	68	24	level	level	NOUN
fcis-32412	68	25	.	.	PUNCT
fcis-32412	69	1	importantly	importantly	ADV
fcis-32412	69	2	,	,	PUNCT
fcis-32412	69	3	adaptation	adaptation	NOUN
fcis-32412	69	4	shown	show	VERB
fcis-32412	69	5	herein	herein	NOUN
fcis-32412	69	6	did	do	AUX
fcis-32412	69	7	not	not	PART
fcis-32412	69	8	entail	entail	VERB
fcis-32412	69	9	centralized	centralized	ADJ
fcis-32412	69	10	supervision	supervision	NOUN
fcis-32412	69	11	or	or	CCONJ
fcis-32412	69	12	highbandwidth	highbandwidth	ADJ
fcis-32412	69	13	updates	update	NOUN
fcis-32412	69	14	of	of	ADP
fcis-32412	69	15	its	its	PRON
fcis-32412	69	16	parameters	parameter	NOUN
fcis-32412	69	17	,	,	PUNCT
fcis-32412	69	18	and	and	CCONJ
fcis-32412	69	19	is	be	AUX
fcis-32412	69	20	thus	thus	ADV
fcis-32412	69	21	applicable	applicable	ADJ
fcis-32412	69	22	to	to	AUX
fcis-32412	69	23	distributed	distribute	VERB
fcis-32412	69	24	,	,	PUNCT
fcis-32412	69	25	embodied	embody	VERB
fcis-32412	69	26	agents	agent	NOUN
fcis-32412	69	27	.	.	PUNCT
fcis-32412	70	1	nonetheless	nonetheless	ADV
fcis-32412	70	2	,	,	PUNCT
fcis-32412	70	3	there	there	PRON
fcis-32412	70	4	are	be	VERB
fcis-32412	70	5	a	a	DET
fcis-32412	70	6	few	few	ADJ
fcis-32412	70	7	remaining	remain	VERB
fcis-32412	70	8	challenges	challenge	NOUN
fcis-32412	70	9	.	.	PUNCT
fcis-32412	71	1	first	first	ADV
fcis-32412	71	2	,	,	PUNCT
fcis-32412	71	3	programming	programming	NOUN
fcis-32412	71	4	and	and	CCONJ
fcis-32412	71	5	debugging	debugging	NOUN
fcis-32412	71	6	of	of	ADP
fcis-32412	71	7	spiking	spike	VERB
fcis-32412	71	8	networks	network	NOUN
fcis-32412	71	9	and	and	CCONJ
fcis-32412	71	10	neuromorphic	neuromorphic	ADJ
fcis-32412	71	11	hardware	hardware	NOUN
fcis-32412	71	12	need	need	VERB
fcis-32412	71	13	novel	novel	ADJ
fcis-32412	71	14	toolchains	toolchain	NOUN
fcis-32412	71	15	and	and	CCONJ
fcis-32412	71	16	design	design	NOUN
fcis-32412	71	17	patterns	pattern	NOUN
fcis-32412	71	18	,	,	PUNCT
fcis-32412	71	19	and	and	CCONJ
fcis-32412	71	20	there	there	PRON
fcis-32412	71	21	is	be	VERB
fcis-32412	71	22	no	no	DET
fcis-32412	71	23	mature	mature	ADJ
fcis-32412	71	24	development	development	NOUN
fcis-32412	71	25	ecosystem	ecosystem	NOUN
fcis-32412	71	26	available	available	ADJ
fcis-32412	71	27	as	as	SCONJ
fcis-32412	71	28	there	there	PRON
fcis-32412	71	29	is	be	VERB
fcis-32412	71	30	for	for	ADP
fcis-32412	71	31	traditional	traditional	ADJ
fcis-32412	71	32	deep	deep	ADJ
fcis-32412	71	33	learning	learning	NOUN
fcis-32412	71	34	.	.	PUNCT
fcis-32412	72	1	second	second	ADJ
fcis-32412	72	2	,	,	PUNCT
fcis-32412	72	3	realizing	realize	VERB
fcis-32412	72	4	in	in	ADP
fcis-32412	72	5	spiking	spiking	NOUN
fcis-32412	72	6	substrates	substrate	NOUN
fcis-32412	72	7	the	the	DET
fcis-32412	72	8	representational	representational	ADJ
fcis-32412	72	9	richness	richness	NOUN
fcis-32412	72	10	found	find	VERB
fcis-32412	72	11	in	in	ADP
fcis-32412	72	12	dense	dense	ADJ
fcis-32412	72	13	neural	neural	ADJ
fcis-32412	72	14	networks	network	NOUN
fcis-32412	72	15	may	may	AUX
fcis-32412	72	16	demand	demand	VERB
fcis-32412	72	17	attentive	attentive	ADJ
fcis-32412	72	18	encoding	encoding	NOUN
fcis-32412	72	19	and	and	CCONJ
fcis-32412	72	20	possible	possible	ADJ
fcis-32412	72	21	multi	multi	ADJ
fcis-32412	72	22	-	-	ADJ
fcis-32412	72	23	stage	stage	ADJ
fcis-32412	72	24	hybrid	hybrid	ADJ
fcis-32412	72	25	architecture	architecture	NOUN
fcis-32412	72	26	incorporating	incorporate	VERB
fcis-32412	72	27	hybrid	hybrid	ADJ
fcis-32412	72	28	front	front	NOUN
fcis-32412	72	29	-	-	PUNCT
fcis-32412	72	30	ends	end	NOUN
fcis-32412	72	31	of	of	ADP
fcis-32412	72	32	neuromorphic	neuromorphic	ADJ
fcis-32412	72	33	flavor	flavor	NOUN
fcis-32412	72	34	and	and	CCONJ
fcis-32412	72	35	back	back	NOUN
fcis-32412	72	36	-	-	PUNCT
fcis-32412	72	37	ends	end	NOUN
fcis-32412	72	38	of	of	ADP
fcis-32412	72	39	symbolic	symbolic	ADJ
fcis-32412	72	40	or	or	CCONJ
fcis-32412	72	41	optimization	optimization	NOUN
fcis-32412	72	42	-	-	PUNCT
fcis-32412	72	43	based	base	VERB
fcis-32412	72	44	nature	nature	NOUN
fcis-32412	72	45	.	.	PUNCT
fcis-32412	73	1	third	third	ADJ
fcis-32412	73	2	,	,	PUNCT
fcis-32412	73	3	although	although	SCONJ
fcis-32412	73	4	local	local	ADJ
fcis-32412	73	5	plasticity	plasticity	NOUN
fcis-32412	73	6	facilitates	facilitate	VERB
fcis-32412	73	7	fast	fast	ADJ
fcis-32412	73	8	adaptation	adaptation	NOUN
fcis-32412	73	9	,	,	PUNCT
fcis-32412	73	10	long	long	ADJ
fcis-32412	73	11	-	-	PUNCT
fcis-32412	73	12	term	term	NOUN
fcis-32412	73	13	stability	stability	NOUN
fcis-32412	73	14	and	and	CCONJ
fcis-32412	73	15	preventing	prevent	VERB
fcis-32412	73	16	catastrophic	catastrophic	ADJ
fcis-32412	73	17	interference	interference	NOUN
fcis-32412	73	18	during	during	ADP
fcis-32412	73	19	lifelong	lifelong	ADJ
fcis-32412	73	20	operation	operation	NOUN
fcis-32412	73	21	require	require	VERB
fcis-32412	73	22	meta	meta	ADJ
fcis-32412	73	23	-	-	PUNCT
fcis-32412	73	24	learning	learn	VERB
fcis-32412	73	25	approaches	approach	NOUN
fcis-32412	73	26	and	and	CCONJ
fcis-32412	73	27	regulation	regulation	NOUN
fcis-32412	73	28	of	of	ADP
fcis-32412	73	29	plasticity	plasticity	NOUN
fcis-32412	73	30	.	.	PUNCT
fcis-32412	74	1	from	from	ADP
fcis-32412	74	2	a	a	DET
fcis-32412	74	3	systems	system	NOUN
fcis-32412	74	4	perspective	perspective	NOUN
fcis-32412	74	5	,	,	PUNCT
fcis-32412	74	6	successful	successful	ADJ
fcis-32412	74	7	deployment	deployment	NOUN
fcis-32412	74	8	in	in	ADP
fcis-32412	74	9	humanoid	humanoid	NOUN
fcis-32412	74	10	robots	robot	NOUN
fcis-32412	74	11	requires	require	VERB
fcis-32412	74	12	tight	tight	ADJ
fcis-32412	74	13	codesign	codesign	NOUN
fcis-32412	74	14	of	of	ADP
fcis-32412	74	15	sensors	sensor	NOUN
fcis-32412	74	16	,	,	PUNCT
fcis-32412	74	17	encoders	encoder	NOUN
fcis-32412	74	18	,	,	PUNCT
fcis-32412	74	19	learning	learn	VERB
fcis-32412	74	20	rules	rule	NOUN
fcis-32412	74	21	,	,	PUNCT
fcis-32412	74	22	and	and	CCONJ
fcis-32412	74	23	motor	motor	NOUN
fcis-32412	74	24	interfaces[6	interfaces[6	PROPN
fcis-32412	74	25	]	]	PUNCT
fcis-32412	74	26	.	.	PUNCT
fcis-32412	75	1	event	event	NOUN
fcis-32412	75	2	-	-	PUNCT
fcis-32412	75	3	based	base	VERB
fcis-32412	75	4	sensors	sensor	NOUN
fcis-32412	75	5	and	and	CCONJ
fcis-32412	75	6	snns	snn	NOUN
fcis-32412	75	7	are	be	AUX
fcis-32412	75	8	a	a	DET
fcis-32412	75	9	transparent	transparent	ADJ
fcis-32412	75	10	combination	combination	NOUN
fcis-32412	75	11	,	,	PUNCT
fcis-32412	75	12	but	but	CCONJ
fcis-32412	75	13	most	most	ADJ
fcis-32412	75	14	existing	exist	VERB
fcis-32412	75	15	robotic	robotic	ADJ
fcis-32412	75	16	sensors	sensor	NOUN
fcis-32412	75	17	are	be	AUX
fcis-32412	75	18	framebased	framebase	VERB
fcis-32412	75	19	;	;	PUNCT
fcis-32412	75	20	closing	close	VERB
fcis-32412	75	21	these	these	DET
fcis-32412	75	22	modalities	modality	NOUN
fcis-32412	75	23	in	in	ADP
fcis-32412	75	24	an	an	DET
fcis-32412	75	25	efficient	efficient	ADJ
fcis-32412	75	26	manner	manner	NOUN
fcis-32412	75	27	is	be	AUX
fcis-32412	75	28	an	an	DET
fcis-32412	75	29	engineering	engineering	NOUN
fcis-32412	75	30	problem	problem	NOUN
fcis-32412	75	31	.	.	PUNCT
fcis-32412	76	1	safety	safety	NOUN
fcis-32412	76	2	and	and	CCONJ
fcis-32412	76	3	verification	verification	NOUN
fcis-32412	76	4	of	of	ADP
fcis-32412	76	5	adaptive	adaptive	ADJ
fcis-32412	76	6	properties	property	NOUN
fcis-32412	76	7	in	in	ADP
fcis-32412	76	8	the	the	DET
fcis-32412	76	9	neuromorphic	neuromorphic	ADJ
fcis-32412	76	10	controller	controller	NOUN
fcis-32412	76	11	also	also	ADV
fcis-32412	76	12	require	require	VERB
fcis-32412	76	13	new	new	ADJ
fcis-32412	76	14	methods	method	NOUN
fcis-32412	76	15	of	of	ADP
fcis-32412	76	16	certifying	certify	VERB
fcis-32412	76	17	behavior	behavior	NOUN
fcis-32412	76	18	in	in	ADP
fcis-32412	76	19	response	response	NOUN
fcis-32412	76	20	to	to	ADP
fcis-32412	76	21	variability	variability	NOUN
fcis-32412	76	22	in	in	ADP
fcis-32412	76	23	internal	internal	ADJ
fcis-32412	76	24	state	state	NOUN
fcis-32412	76	25	.	.	PUNCT
fcis-32412	77	1	it	it	PRON
fcis-32412	77	2	will	will	AUX
fcis-32412	77	3	be	be	AUX
fcis-32412	77	4	necessary	necessary	ADJ
fcis-32412	77	5	for	for	SCONJ
fcis-32412	77	6	future	future	ADJ
fcis-32412	77	7	work	work	NOUN
fcis-32412	77	8	to	to	PART
fcis-32412	77	9	explore	explore	VERB
fcis-32412	77	10	hybrid	hybrid	ADJ
fcis-32412	77	11	infrastructure	infrastructure	NOUN
fcis-32412	77	12	where	where	SCONJ
fcis-32412	77	13	high	high	ADJ
fcis-32412	77	14	-	-	PUNCT
fcis-32412	77	15	frequency	frequency	NOUN
fcis-32412	77	16	,	,	PUNCT
fcis-32412	77	17	low	low	ADJ
fcis-32412	77	18	-	-	PUNCT
fcis-32412	77	19	latency	latency	NOUN
fcis-32412	77	20	loops	loop	NOUN
fcis-32412	77	21	are	be	AUX
fcis-32412	77	22	mapped	map	VERB
fcis-32412	77	23	to	to	ADP
fcis-32412	77	24	neuromorphic	neuromorphic	ADJ
fcis-32412	77	25	computing	compute	VERB
fcis-32412	77	26	components	component	NOUN
fcis-32412	77	27	and	and	CCONJ
fcis-32412	77	28	higher	high	ADJ
fcis-32412	77	29	-	-	PUNCT
fcis-32412	77	30	level	level	NOUN
fcis-32412	77	31	planning	planning	NOUN
fcis-32412	77	32	is	be	AUX
fcis-32412	77	33	reserved	reserve	VERB
fcis-32412	77	34	for	for	ADP
fcis-32412	77	35	traditional	traditional	ADJ
fcis-32412	77	36	processors	processor	NOUN
fcis-32412	77	37	,	,	PUNCT
fcis-32412	77	38	allowing	allow	VERB
fcis-32412	77	39	a	a	DET
fcis-32412	77	40	stratified	stratified	ADJ
fcis-32412	77	41	cognitive	cognitive	ADJ
fcis-32412	77	42	architecture	architecture	NOUN
fcis-32412	77	43	.	.	PUNCT
fcis-32412	78	1	scalability	scalability	NOUN
fcis-32412	78	2	to	to	PART
fcis-32412	78	3	diversely	diversely	ADV
fcis-32412	78	4	shaped	shape	VERB
fcis-32412	78	5	humanoid	humanoid	ADJ
fcis-32412	78	6	bodies	body	NOUN
fcis-32412	78	7	and	and	CCONJ
fcis-32412	78	8	mission	mission	NOUN
fcis-32412	78	9	profiles	profile	NOUN
fcis-32412	78	10	requires	require	VERB
fcis-32412	78	11	research	research	NOUN
fcis-32412	78	12	in	in	ADP
fcis-32412	78	13	neuromorphic	neuromorphic	ADJ
fcis-32412	78	14	-	-	PUNCT
fcis-32412	78	15	friendly	friendly	ADJ
fcis-32412	78	16	learnings	learning	NOUN
fcis-32412	78	17	that	that	PRON
fcis-32412	78	18	generalize	generalize	VERB
fcis-32412	78	19	across	across	ADP
fcis-32412	78	20	tasks	task	NOUN
fcis-32412	78	21	and	and	CCONJ
fcis-32412	78	22	bodies	body	NOUN
fcis-32412	78	23	preferably	preferably	ADV
fcis-32412	78	24	through	through	ADP
fcis-32412	78	25	meta	meta	ADJ
fcis-32412	78	26	-	-	PUNCT
fcis-32412	78	27	plasticity	plasticity	NOUN
fcis-32412	78	28	or	or	CCONJ
fcis-32412	78	29	intrinsic	intrinsic	ADJ
fcis-32412	78	30	homeostatics	homeostatic	NOUN
fcis-32412	78	31	.	.	PUNCT
fcis-32412	79	1	lastly	lastly	ADV
fcis-32412	79	2	,	,	PUNCT
fcis-32412	79	3	broad	broad	ADJ
fcis-32412	79	4	community	community	NOUN
fcis-32412	79	5	software	software	NOUN
fcis-32412	79	6	toolchain	toolchain	NOUN
fcis-32412	79	7	,	,	PUNCT
fcis-32412	79	8	benchmark	benchmark	NOUN
fcis-32412	79	9	,	,	PUNCT
fcis-32412	79	10	and	and	CCONJ
fcis-32412	79	11	standardized	standardized	ADJ
fcis-32412	79	12	task	task	NOUN
fcis-32412	79	13	creation	creation	NOUN
fcis-32412	79	14	will	will	AUX
fcis-32412	79	15	accelerate	accelerate	VERB
fcis-32412	79	16	adoption	adoption	NOUN
fcis-32412	79	17	and	and	CCONJ
fcis-32412	79	18	rigorous	rigorous	ADJ
fcis-32412	79	19	comparison	comparison	NOUN
fcis-32412	79	20	across	across	ADP
fcis-32412	79	21	platforms[7	platforms[7	NOUN
fcis-32412	79	22	]	]	X
fcis-32412	79	23	.	.	PUNCT
fcis-32412	80	1	5	5	X
fcis-32412	80	2	.	.	X
fcis-32412	80	3	conclusion	conclusion	NOUN
fcis-32412	80	4	this	this	DET
fcis-32412	80	5	work	work	NOUN
fcis-32412	80	6	offers	offer	VERB
fcis-32412	80	7	a	a	DET
fcis-32412	80	8	full	full	ADJ
fcis-32412	80	9	-	-	PUNCT
fcis-32412	80	10	scale	scale	NOUN
fcis-32412	80	11	proof	proof	NOUN
fcis-32412	80	12	that	that	PRON
fcis-32412	80	13	embodied	embody	VERB
fcis-32412	80	14	cognition	cognition	NOUN
fcis-32412	80	15	in	in	ADP
fcis-32412	80	16	humanoid	humanoid	NOUN
fcis-32412	80	17	robots	robot	NOUN
fcis-32412	80	18	is	be	AUX
fcis-32412	80	19	possible	possible	ADJ
fcis-32412	80	20	in	in	ADP
fcis-32412	80	21	real	real	ADJ
fcis-32412	80	22	time	time	NOUN
fcis-32412	80	23	using	use	VERB
fcis-32412	80	24	neuromorphic	neuromorphic	ADJ
fcis-32412	80	25	hardware	hardware	NOUN
fcis-32412	80	26	,	,	PUNCT
fcis-32412	80	27	and	and	CCONJ
fcis-32412	80	28	it	it	PRON
fcis-32412	80	29	reaches	reach	VERB
fcis-32412	80	30	matching	match	VERB
fcis-32412	80	31	task	task	NOUN
fcis-32412	80	32	performance	performance	NOUN
fcis-32412	80	33	at	at	ADP
fcis-32412	80	34	a	a	DET
fcis-32412	80	35	fraction	fraction	NOUN
fcis-32412	80	36	of	of	ADP
fcis-32412	80	37	latency	latency	NOUN
fcis-32412	80	38	and	and	CCONJ
fcis-32412	80	39	power	power	NOUN
fcis-32412	80	40	consumption	consumption	NOUN
fcis-32412	80	41	,	,	PUNCT
fcis-32412	80	42	and	and	CCONJ
fcis-32412	80	43	facilitates	facilitate	VERB
fcis-32412	80	44	rapid	rapid	ADJ
fcis-32412	80	45	on	on	ADP
fcis-32412	80	46	-	-	PUNCT
fcis-32412	80	47	line	line	NOUN
fcis-32412	80	48	adaptation	adaptation	NOUN
fcis-32412	80	49	via	via	ADP
fcis-32412	80	50	local	local	ADJ
fcis-32412	80	51	plasticity	plasticity	NOUN
fcis-32412	80	52	.	.	PUNCT
fcis-32412	81	1	these	these	DET
fcis-32412	81	2	findings	finding	NOUN
fcis-32412	81	3	imply	imply	VERB
fcis-32412	81	4	that	that	SCONJ
fcis-32412	81	5	neuromorphic	neuromorphic	ADJ
fcis-32412	81	6	methods	method	NOUN
fcis-32412	81	7	are	be	AUX
fcis-32412	81	8	a	a	DET
fcis-32412	81	9	promising	promising	ADJ
fcis-32412	81	10	direction	direction	NOUN
fcis-32412	81	11	towards	towards	ADP
fcis-32412	81	12	energyefficient	energyefficient	NOUN
fcis-32412	81	13	,	,	PUNCT
fcis-32412	81	14	low	low	ADJ
fcis-32412	81	15	-	-	PUNCT
fcis-32412	81	16	latency	latency	NOUN
fcis-32412	81	17	robotic	robotic	ADJ
fcis-32412	81	18	thinking	thinking	NOUN
fcis-32412	81	19	,	,	PUNCT
fcis-32412	81	20	especially	especially	ADV
fcis-32412	81	21	in	in	ADP
fcis-32412	81	22	cases	case	NOUN
fcis-32412	81	23	where	where	SCONJ
fcis-32412	81	24	fast	fast	ADJ
fcis-32412	81	25	sensorimotor	sensorimotor	NOUN
fcis-32412	81	26	integration	integration	NOUN
fcis-32412	81	27	and	and	CCONJ
fcis-32412	81	28	continuous	continuous	ADJ
fcis-32412	81	29	adaptation	adaptation	NOUN
fcis-32412	81	30	are	be	AUX
fcis-32412	81	31	involved	involve	VERB
fcis-32412	81	32	.	.	PUNCT
fcis-32412	82	1	further	further	ADJ
fcis-32412	82	2	co	co	NOUN
fcis-32412	82	3	-	-	NOUN
fcis-32412	82	4	design	design	NOUN
fcis-32412	82	5	of	of	ADP
fcis-32412	82	6	hardware	hardware	NOUN
fcis-32412	82	7	,	,	PUNCT
fcis-32412	82	8	algorithms	algorithm	NOUN
fcis-32412	82	9	,	,	PUNCT
fcis-32412	82	10	and	and	CCONJ
fcis-32412	82	11	sensors	sensor	NOUN
fcis-32412	82	12	will	will	AUX
fcis-32412	82	13	be	be	AUX
fcis-32412	82	14	necessary	necessary	ADJ
fcis-32412	82	15	in	in	ADP
fcis-32412	82	16	order	order	NOUN
fcis-32412	82	17	to	to	PART
fcis-32412	82	18	reach	reach	VERB
fcis-32412	82	19	full	full	ADJ
fcis-32412	82	20	potential	potential	NOUN
fcis-32412	82	21	of	of	ADP
fcis-32412	82	22	neuromorphic	neuromorphic	ADJ
fcis-32412	82	23	systems	system	NOUN
fcis-32412	82	24	in	in	ADP
fcis-32412	82	25	highly	highly	ADV
fcis-32412	82	26	complex	complex	ADJ
fcis-32412	82	27	humanoid	humanoid	ADJ
fcis-32412	82	28	applications	application	NOUN
fcis-32412	82	29	.	.	PUNCT
fcis-32412	83	1	references	reference	NOUN
fcis-32412	83	2	[	[	X
fcis-32412	83	3	1	1	NUM
fcis-32412	83	4	]	]	PUNCT
fcis-32412	83	5	aitsam	aitsam	NOUN
fcis-32412	83	6	,	,	PUNCT
fcis-32412	83	7	m.	m.	NOUN
fcis-32412	83	8	,	,	PUNCT
fcis-32412	83	9	davies	davy	NOUN
fcis-32412	83	10	,	,	PUNCT
fcis-32412	83	11	s.	s.	PROPN
fcis-32412	83	12	,	,	PUNCT
fcis-32412	83	13	&	&	CCONJ
fcis-32412	83	14	di	di	PROPN
fcis-32412	83	15	nuovo	nuovo	PROPN
fcis-32412	83	16	,	,	PUNCT
fcis-32412	83	17	a.	a.	NOUN
fcis-32412	83	18	(	(	PUNCT
fcis-32412	83	19	2022	2022	NUM
fcis-32412	83	20	)	)	PUNCT
fcis-32412	83	21	.	.	PUNCT
fcis-32412	84	1	neuromorphic	neuromorphic	ADJ
fcis-32412	84	2	computing	computing	NOUN
fcis-32412	84	3	for	for	ADP
fcis-32412	84	4	interactive	interactive	ADJ
fcis-32412	84	5	robotics	robotic	NOUN
fcis-32412	84	6	:	:	PUNCT
fcis-32412	84	7	a	a	DET
fcis-32412	84	8	systematic	systematic	ADJ
fcis-32412	84	9	review	review	NOUN
fcis-32412	84	10	.	.	PUNCT
fcis-32412	85	1	ieee	ieee	NOUN
fcis-32412	85	2	access	access	NOUN
fcis-32412	85	3	,	,	PUNCT
fcis-32412	85	4	10	10	NUM
fcis-32412	85	5	,	,	PUNCT
fcis-32412	85	6	122261	122261	NUM
fcis-32412	85	7	-	-	SYM
fcis-32412	85	8	122279	122279	NUM
fcis-32412	85	9	.	.	PUNCT
fcis-32412	86	1	[	[	X
fcis-32412	86	2	2	2	NUM
fcis-32412	86	3	]	]	X
fcis-32412	86	4	qu	qu	PROPN
fcis-32412	86	5	,	,	PUNCT
fcis-32412	86	6	j.	j.	PROPN
fcis-32412	86	7	,	,	PUNCT
fcis-32412	86	8	wang	wang	PROPN
fcis-32412	86	9	,	,	PUNCT
fcis-32412	86	10	w.	w.	PROPN
fcis-32412	86	11	,	,	PUNCT
fcis-32412	86	12	ren	ren	PROPN
fcis-32412	86	13	,	,	PUNCT
fcis-32412	86	14	x.	x.	PROPN
fcis-32412	86	15	,	,	PUNCT
fcis-32412	86	16	zhang	zhang	PROPN
fcis-32412	86	17	,	,	PUNCT
fcis-32412	86	18	y.	y.	PROPN
fcis-32412	86	19	,	,	PUNCT
fcis-32412	86	20	bu	bu	PROPN
fcis-32412	86	21	,	,	PUNCT
fcis-32412	86	22	l.	l.	PROPN
fcis-32412	86	23	,	,	PUNCT
fcis-32412	86	24	&	&	CCONJ
fcis-32412	86	25	liu	liu	PROPN
fcis-32412	86	26	,	,	PUNCT
fcis-32412	86	27	l.	l.	PROPN
fcis-32412	86	28	(	(	PUNCT
fcis-32412	86	29	2024	2024	NUM
fcis-32412	86	30	)	)	PUNCT
fcis-32412	86	31	.	.	PUNCT
fcis-32412	86	32	embodied	embody	VERB
fcis-32412	86	33	neuromorphic	neuromorphic	ADJ
fcis-32412	86	34	intelligence	intelligence	NOUN
fcis-32412	86	35	in	in	ADP
fcis-32412	86	36	healthcare	healthcare	PROPN
fcis-32412	86	37	:	:	PUNCT
fcis-32412	86	38	evaluating	evaluate	VERB
fcis-32412	86	39	pose	pose	NOUN
fcis-32412	86	40	-	-	PUNCT
fcis-32412	86	41	matching	match	VERB
fcis-32412	86	42	interaction	interaction	NOUN
fcis-32412	86	43	using	use	VERB
fcis-32412	86	44	fnirs	fnir	NOUN
fcis-32412	86	45	and	and	CCONJ
fcis-32412	86	46	behavioral	behavioral	ADJ
fcis-32412	86	47	data	datum	NOUN
fcis-32412	86	48	.	.	PUNCT
fcis-32412	87	1	ieee	ieee	PROPN
fcis-32412	87	2	internet	internet	NOUN
fcis-32412	87	3	of	of	ADP
fcis-32412	87	4	things	thing	NOUN
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fcis-32412	87	6	.	.	PUNCT
fcis-32412	88	1	[	[	X
fcis-32412	88	2	3	3	NUM
fcis-32412	88	3	]	]	X
fcis-32412	88	4	rast	rast	NOUN
fcis-32412	88	5	,	,	PUNCT
fcis-32412	88	6	a.	a.	PROPN
fcis-32412	88	7	d.	d.	PROPN
fcis-32412	88	8	,	,	PUNCT
fcis-32412	88	9	adams	adams	PROPN
fcis-32412	88	10	,	,	PUNCT
fcis-32412	88	11	s.	s.	PROPN
fcis-32412	88	12	v.	v.	PROPN
fcis-32412	88	13	,	,	PUNCT
fcis-32412	88	14	davidson	davidson	PROPN
fcis-32412	88	15	,	,	PUNCT
fcis-32412	88	16	s.	s.	PROPN
fcis-32412	88	17	,	,	PUNCT
fcis-32412	88	18	davies	davy	NOUN
fcis-32412	88	19	,	,	PUNCT
fcis-32412	88	20	s.	s.	PROPN
fcis-32412	88	21	,	,	PUNCT
fcis-32412	88	22	hopkins	hopkins	PROPN
fcis-32412	88	23	,	,	PUNCT
fcis-32412	88	24	m.	m.	NOUN
fcis-32412	88	25	,	,	PUNCT
fcis-32412	88	26	rowley	rowley	NOUN
fcis-32412	88	27	,	,	PUNCT
fcis-32412	88	28	a.	a.	NOUN
fcis-32412	88	29	,	,	PUNCT
fcis-32412	88	30	...	...	PUNCT
fcis-32412	88	31	&	&	CCONJ
fcis-32412	88	32	cangelosi	cangelosi	PROPN
fcis-32412	88	33	,	,	PUNCT
fcis-32412	88	34	a.	a.	NOUN
fcis-32412	88	35	(	(	PUNCT
fcis-32412	88	36	2018	2018	NUM
fcis-32412	88	37	)	)	PUNCT
fcis-32412	88	38	.	.	PUNCT
fcis-32412	89	1	behavioral	behavioral	ADJ
fcis-32412	89	2	learning	learning	NOUN
fcis-32412	89	3	in	in	ADP
fcis-32412	89	4	a	a	DET
fcis-32412	89	5	cognitive	cognitive	ADJ
fcis-32412	89	6	neuromorphic	neuromorphic	ADJ
fcis-32412	89	7	robot	robot	NOUN
fcis-32412	89	8	:	:	PUNCT
fcis-32412	89	9	an	an	DET
fcis-32412	89	10	integrative	integrative	ADJ
fcis-32412	89	11	approach	approach	NOUN
fcis-32412	89	12	.	.	PUNCT
fcis-32412	90	1	ieee	ieee	NOUN
fcis-32412	90	2	transactions	transaction	NOUN
fcis-32412	90	3	on	on	ADP
fcis-32412	90	4	neural	neural	ADJ
fcis-32412	90	5	networks	network	NOUN
fcis-32412	90	6	and	and	CCONJ
fcis-32412	90	7	learning	learning	NOUN
fcis-32412	90	8	systems	system	NOUN
fcis-32412	90	9	,	,	PUNCT
fcis-32412	90	10	29(12	29(12	NUM
fcis-32412	90	11	)	)	PUNCT
fcis-32412	90	12	,	,	PUNCT
fcis-32412	90	13	6132	6132	NUM
fcis-32412	90	14	-	-	SYM
fcis-32412	90	15	6144	6144	NUM
fcis-32412	90	16	.	.	PUNCT
fcis-32412	91	1	[	[	X
fcis-32412	91	2	4	4	NUM
fcis-32412	91	3	]	]	X
fcis-32412	91	4	shankar	shankar	PROPN
fcis-32412	91	5	,	,	PUNCT
fcis-32412	91	6	s.	s.	PROPN
fcis-32412	91	7	,	,	PUNCT
fcis-32412	91	8	pan	pan	PROPN
fcis-32412	91	9	,	,	PUNCT
fcis-32412	91	10	y.	y.	PROPN
fcis-32412	91	11	,	,	PUNCT
fcis-32412	91	12	jiang	jiang	PROPN
fcis-32412	91	13	,	,	PUNCT
fcis-32412	91	14	h.	h.	PROPN
fcis-32412	91	15	,	,	PUNCT
fcis-32412	91	16	liu	liu	PROPN
fcis-32412	91	17	,	,	PUNCT
fcis-32412	91	18	z.	z.	PROPN
fcis-32412	91	19	,	,	PUNCT
fcis-32412	91	20	darbandi	darbandi	PROPN
fcis-32412	91	21	,	,	PUNCT
fcis-32412	91	22	m.	m.	PROPN
fcis-32412	91	23	r.	r.	PROPN
fcis-32412	91	24	,	,	PUNCT
fcis-32412	91	25	lorenzo	lorenzo	PROPN
fcis-32412	91	26	,	,	PUNCT
fcis-32412	91	27	a.	a.	NOUN
fcis-32412	91	28	,	,	PUNCT
fcis-32412	91	29	...	...	PUNCT
fcis-32412	91	30	&	&	CCONJ
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fcis-32412	91	32	,	,	PUNCT
fcis-32412	91	33	t.	t.	PROPN
fcis-32412	91	34	(	(	PUNCT
fcis-32412	91	35	2025	2025	NUM
fcis-32412	91	36	)	)	PUNCT
fcis-32412	91	37	.	.	PUNCT
fcis-32412	92	1	bridging	bridge	VERB
fcis-32412	92	2	brains	brain	NOUN
fcis-32412	92	3	and	and	CCONJ
fcis-32412	92	4	machines	machine	NOUN
fcis-32412	92	5	:	:	PUNCT
fcis-32412	92	6	a	a	DET
fcis-32412	92	7	unified	unified	ADJ
fcis-32412	92	8	frontier	frontier	NOUN
fcis-32412	92	9	in	in	ADP
fcis-32412	92	10	neuroscience	neuroscience	NOUN
fcis-32412	92	11	,	,	PUNCT
fcis-32412	92	12	artificial	artificial	ADJ
fcis-32412	92	13	intelligence	intelligence	NOUN
fcis-32412	92	14	,	,	PUNCT
fcis-32412	92	15	and	and	CCONJ
fcis-32412	92	16	neuromorphic	neuromorphic	ADJ
fcis-32412	92	17	systems	system	NOUN
fcis-32412	92	18	.	.	PUNCT
fcis-32412	93	1	arxiv	arxiv	PROPN
fcis-32412	93	2	preprint	preprint	NOUN
fcis-32412	93	3	arxiv:2507.10722	arxiv:2507.10722	NOUN
fcis-32412	93	4	.	.	PUNCT
fcis-32412	94	1	[	[	X
fcis-32412	94	2	5	5	NUM
fcis-32412	94	3	]	]	X
fcis-32412	94	4	indiveri	indiveri	PROPN
fcis-32412	94	5	,	,	PUNCT
fcis-32412	94	6	g.	g.	PROPN
fcis-32412	94	7	,	,	PUNCT
fcis-32412	94	8	&	&	CCONJ
fcis-32412	94	9	sandamirskaya	sandamirskaya	PROPN
fcis-32412	94	10	,	,	PUNCT
fcis-32412	94	11	y.	y.	PROPN
fcis-32412	94	12	(	(	PUNCT
fcis-32412	94	13	2019	2019	NUM
fcis-32412	94	14	)	)	PUNCT
fcis-32412	94	15	.	.	PUNCT
fcis-32412	95	1	the	the	DET
fcis-32412	95	2	importance	importance	NOUN
fcis-32412	95	3	of	of	ADP
fcis-32412	95	4	space	space	NOUN
fcis-32412	95	5	and	and	CCONJ
fcis-32412	95	6	time	time	NOUN
fcis-32412	95	7	for	for	ADP
fcis-32412	95	8	signal	signal	ADJ
fcis-32412	95	9	processing	processing	NOUN
fcis-32412	95	10	in	in	ADP
fcis-32412	95	11	neuromorphic	neuromorphic	ADJ
fcis-32412	95	12	agents	agent	NOUN
fcis-32412	95	13	:	:	PUNCT
fcis-32412	95	14	the	the	DET
fcis-32412	95	15	challenge	challenge	NOUN
fcis-32412	95	16	of	of	ADP
fcis-32412	95	17	developing	develop	VERB
fcis-32412	95	18	low	low	ADJ
fcis-32412	95	19	-	-	PUNCT
fcis-32412	95	20	power	power	NOUN
fcis-32412	95	21	,	,	PUNCT
fcis-32412	95	22	autonomous	autonomous	ADJ
fcis-32412	95	23	agents	agent	NOUN
fcis-32412	95	24	that	that	PRON
fcis-32412	95	25	interact	interact	VERB
fcis-32412	95	26	with	with	ADP
fcis-32412	95	27	the	the	DET
fcis-32412	95	28	environment	environment	NOUN
fcis-32412	95	29	.	.	PUNCT
fcis-32412	96	1	ieee	ieee	NOUN
fcis-32412	96	2	signal	signal	PROPN
fcis-32412	96	3	processing	processing	NOUN
fcis-32412	96	4	magazine	magazine	NOUN
fcis-32412	96	5	,	,	PUNCT
fcis-32412	96	6	36(6	36(6	NUM
fcis-32412	96	7	)	)	PUNCT
fcis-32412	96	8	,	,	PUNCT
fcis-32412	96	9	16	16	NUM
fcis-32412	96	10	-	-	SYM
fcis-32412	96	11	28	28	NUM
fcis-32412	96	12	.	.	PUNCT
fcis-32412	97	1	[	[	X
fcis-32412	97	2	6	6	NUM
fcis-32412	97	3	]	]	SYM
fcis-32412	97	4	chicca	chicca	PROPN
fcis-32412	97	5	,	,	PUNCT
fcis-32412	97	6	e.	e.	PROPN
fcis-32412	97	7	,	,	PUNCT
fcis-32412	97	8	stefanini	stefanini	PROPN
fcis-32412	97	9	,	,	PUNCT
fcis-32412	97	10	f.	f.	PROPN
fcis-32412	97	11	,	,	PUNCT
fcis-32412	97	12	bartolozzi	bartolozzi	PROPN
fcis-32412	97	13	,	,	PUNCT
fcis-32412	97	14	c.	c.	PROPN
fcis-32412	97	15	,	,	PUNCT
fcis-32412	97	16	&	&	CCONJ
fcis-32412	97	17	indiveri	indiveri	PROPN
fcis-32412	97	18	,	,	PUNCT
fcis-32412	97	19	g.	g.	PROPN
fcis-32412	97	20	(	(	PUNCT
fcis-32412	97	21	2014	2014	NUM
fcis-32412	97	22	)	)	PUNCT
fcis-32412	97	23	.	.	PUNCT
fcis-32412	98	1	neuromorphic	neuromorphic	ADJ
fcis-32412	98	2	electronic	electronic	ADJ
fcis-32412	98	3	circuits	circuit	NOUN
fcis-32412	98	4	for	for	ADP
fcis-32412	98	5	building	build	VERB
fcis-32412	98	6	autonomous	autonomous	ADJ
fcis-32412	98	7	cognitive	cognitive	ADJ
fcis-32412	98	8	systems	system	NOUN
fcis-32412	98	9	.	.	PUNCT
fcis-32412	99	1	proceedings	proceeding	NOUN
fcis-32412	99	2	of	of	ADP
fcis-32412	99	3	the	the	DET
fcis-32412	99	4	ieee	ieee	NOUN
fcis-32412	99	5	,	,	PUNCT
fcis-32412	99	6	102(9	102(9	NUM
fcis-32412	99	7	)	)	PUNCT
fcis-32412	99	8	,	,	PUNCT
fcis-32412	99	9	13671388	13671388	NUM
fcis-32412	99	10	.	.	PUNCT
fcis-32412	100	1	[	[	X
fcis-32412	100	2	7	7	NUM
fcis-32412	100	3	]	]	X
fcis-32412	100	4	richter	richter	PROPN
fcis-32412	100	5	,	,	PUNCT
fcis-32412	100	6	c.	c.	PROPN
fcis-32412	100	7	,	,	PUNCT
fcis-32412	100	8	jentzsch	jentzsch	PROPN
fcis-32412	100	9	,	,	PUNCT
fcis-32412	100	10	s.	s.	PROPN
fcis-32412	100	11	,	,	PUNCT
fcis-32412	100	12	hostettler	hostettler	PROPN
fcis-32412	100	13	,	,	PUNCT
fcis-32412	100	14	r.	r.	PROPN
fcis-32412	100	15	,	,	PUNCT
fcis-32412	100	16	garrido	garrido	PROPN
fcis-32412	100	17	,	,	PUNCT
fcis-32412	100	18	j.	j.	PROPN
fcis-32412	100	19	a.	a.	PROPN
fcis-32412	100	20	,	,	PUNCT
fcis-32412	100	21	ros	ros	PROPN
fcis-32412	100	22	,	,	PUNCT
fcis-32412	100	23	e.	e.	PROPN
fcis-32412	100	24	,	,	PUNCT
fcis-32412	100	25	knoll	knoll	PROPN
fcis-32412	100	26	,	,	PUNCT
fcis-32412	100	27	a.	a.	NOUN
fcis-32412	100	28	,	,	PUNCT
fcis-32412	100	29	...	...	PUNCT
fcis-32412	100	30	&	&	CCONJ
fcis-32412	100	31	conradt	conradt	PROPN
fcis-32412	100	32	,	,	PUNCT
fcis-32412	100	33	j.	j.	PROPN
fcis-32412	100	34	(	(	PUNCT
fcis-32412	100	35	2016	2016	NUM
fcis-32412	100	36	)	)	PUNCT
fcis-32412	100	37	.	.	PUNCT
fcis-32412	101	1	musculoskeletal	musculoskeletal	ADJ
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fcis-32412	101	3	:	:	PUNCT
fcis-32412	101	4	scalability	scalability	NOUN
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fcis-32412	101	7	control	control	NOUN
fcis-32412	101	8	.	.	PUNCT
fcis-32412	102	1	ieee	ieee	NOUN
fcis-32412	102	2	robotics	robotic	NOUN
fcis-32412	102	3	&	&	CCONJ
fcis-32412	102	4	automation	automation	PROPN
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fcis-32412	102	6	,	,	PUNCT
fcis-32412	102	7	23(4	23(4	NOUN
fcis-32412	102	8	)	)	PUNCT
fcis-32412	102	9	,	,	PUNCT
fcis-32412	102	10	128	128	NUM
fcis-32412	102	11	-	-	SYM
fcis-32412	102	12	137	137	NUM
fcis-32412	102	13	.	.	PUNCT