id	sid	tid	token	lemma	pos
1831cj85f59	1	1	intelligent	intelligent	ADJ
1831cj85f59	1	2	robots	robot	NOUN
1831cj85f59	1	3	have	have	AUX
1831cj85f59	1	4	emerged	emerge	VERB
1831cj85f59	1	5	as	as	ADP
1831cj85f59	1	6	a	a	DET
1831cj85f59	1	7	hot	hot	ADJ
1831cj85f59	1	8	research	research	NOUN
1831cj85f59	1	9	topic	topic	NOUN
1831cj85f59	1	10	in	in	ADP
1831cj85f59	1	11	the	the	DET
1831cj85f59	1	12	interdisciplinary	interdisciplinary	ADJ
1831cj85f59	1	13	study	study	NOUN
1831cj85f59	1	14	of	of	ADP
1831cj85f59	1	15	control	control	NOUN
1831cj85f59	1	16	theory	theory	NOUN
1831cj85f59	1	17	,	,	PUNCT
1831cj85f59	1	18	robotics	robotic	NOUN
1831cj85f59	1	19	,	,	PUNCT
1831cj85f59	1	20	and	and	CCONJ
1831cj85f59	1	21	computer	computer	NOUN
1831cj85f59	1	22	science	science	NOUN
1831cj85f59	1	23	as	as	SCONJ
1831cj85f59	1	24	it	it	PRON
1831cj85f59	1	25	demonstrates	demonstrate	VERB
1831cj85f59	1	26	huge	huge	ADJ
1831cj85f59	1	27	potential	potential	NOUN
1831cj85f59	1	28	in	in	ADP
1831cj85f59	1	29	fundamentally	fundamentally	ADV
1831cj85f59	1	30	benefiting	benefit	VERB
1831cj85f59	1	31	our	our	PRON
1831cj85f59	1	32	society	society	NOUN
1831cj85f59	1	33	.	.	PUNCT
1831cj85f59	2	1	the	the	DET
1831cj85f59	2	2	development	development	NOUN
1831cj85f59	2	3	of	of	ADP
1831cj85f59	2	4	intelligent	intelligent	ADJ
1831cj85f59	2	5	robots	robot	NOUN
1831cj85f59	2	6	with	with	ADP
1831cj85f59	2	7	the	the	DET
1831cj85f59	2	8	ability	ability	NOUN
1831cj85f59	2	9	to	to	PART
1831cj85f59	2	10	independently	independently	ADV
1831cj85f59	2	11	solve	solve	VERB
1831cj85f59	2	12	a	a	DET
1831cj85f59	2	13	new	new	ADJ
1831cj85f59	2	14	task	task	NOUN
1831cj85f59	2	15	is	be	AUX
1831cj85f59	2	16	an	an	DET
1831cj85f59	2	17	important	important	ADJ
1831cj85f59	2	18	yet	yet	ADV
1831cj85f59	2	19	challenging	challenging	ADJ
1831cj85f59	2	20	research	research	NOUN
1831cj85f59	2	21	problem	problem	NOUN
1831cj85f59	2	22	.	.	PUNCT
1831cj85f59	3	1	this	this	DET
1831cj85f59	3	2	work	work	NOUN
1831cj85f59	3	3	devotes	devote	VERB
1831cj85f59	3	4	to	to	ADP
1831cj85f59	3	5	proposing	propose	VERB
1831cj85f59	3	6	an	an	DET
1831cj85f59	3	7	integrated	integrate	VERB
1831cj85f59	3	8	system	system	NOUN
1831cj85f59	3	9	for	for	ADP
1831cj85f59	3	10	such	such	ADJ
1831cj85f59	3	11	intelligent	intelligent	ADJ
1831cj85f59	3	12	robots	robot	NOUN
1831cj85f59	3	13	through	through	ADP
1831cj85f59	3	14	three	three	NUM
1831cj85f59	3	15	major	major	ADJ
1831cj85f59	3	16	objectives.first	objectives.first	NOUN
1831cj85f59	3	17	,	,	PUNCT
1831cj85f59	3	18	we	we	PRON
1831cj85f59	3	19	propose	propose	VERB
1831cj85f59	3	20	a	a	DET
1831cj85f59	3	21	new	new	ADJ
1831cj85f59	3	22	spatial	spatial	ADJ
1831cj85f59	3	23	temporal	temporal	ADJ
1831cj85f59	3	24	logic	logic	NOUN
1831cj85f59	3	25	with	with	ADP
1831cj85f59	3	26	a	a	DET
1831cj85f59	3	27	sound	sound	NOUN
1831cj85f59	3	28	and	and	CCONJ
1831cj85f59	3	29	complete	complete	ADJ
1831cj85f59	3	30	deduction	deduction	NOUN
1831cj85f59	3	31	system	system	NOUN
1831cj85f59	3	32	for	for	ADP
1831cj85f59	3	33	knowledge	knowledge	NOUN
1831cj85f59	3	34	representation	representation	NOUN
1831cj85f59	3	35	and	and	CCONJ
1831cj85f59	3	36	reasoning	reasoning	NOUN
1831cj85f59	3	37	in	in	ADP
1831cj85f59	3	38	intelligent	intelligent	ADJ
1831cj85f59	3	39	robots	robot	NOUN
1831cj85f59	3	40	.	.	PUNCT
1831cj85f59	4	1	the	the	DET
1831cj85f59	4	2	proposed	propose	VERB
1831cj85f59	4	3	logic	logic	NOUN
1831cj85f59	4	4	achieves	achieve	VERB
1831cj85f59	4	5	a	a	DET
1831cj85f59	4	6	balance	balance	NOUN
1831cj85f59	4	7	between	between	ADP
1831cj85f59	4	8	expressiveness	expressiveness	NOUN
1831cj85f59	4	9	and	and	CCONJ
1831cj85f59	4	10	tractability	tractability	NOUN
1831cj85f59	4	11	for	for	ADP
1831cj85f59	4	12	intelligent	intelligent	ADJ
1831cj85f59	4	13	robots	robot	NOUN
1831cj85f59	4	14	since	since	SCONJ
1831cj85f59	4	15	the	the	DET
1831cj85f59	4	16	satisfiability	satisfiability	NOUN
1831cj85f59	4	17	of	of	ADP
1831cj85f59	4	18	the	the	DET
1831cj85f59	4	19	proposed	propose	VERB
1831cj85f59	4	20	logic	logic	NOUN
1831cj85f59	4	21	is	be	AUX
1831cj85f59	4	22	decidable	decidable	ADJ
1831cj85f59	4	23	.	.	PUNCT
1831cj85f59	5	1	we	we	PRON
1831cj85f59	5	2	propose	propose	VERB
1831cj85f59	5	3	two	two	NUM
1831cj85f59	5	4	specification	specification	NOUN
1831cj85f59	5	5	mining	mining	NOUN
1831cj85f59	5	6	algorithms	algorithm	NOUN
1831cj85f59	5	7	to	to	PART
1831cj85f59	5	8	generate	generate	VERB
1831cj85f59	5	9	spatial	spatial	ADJ
1831cj85f59	5	10	temporal	temporal	ADJ
1831cj85f59	5	11	logic	logic	NOUN
1831cj85f59	5	12	formulas	formula	NOUN
1831cj85f59	5	13	from	from	ADP
1831cj85f59	5	14	video	video	NOUN
1831cj85f59	5	15	and	and	CCONJ
1831cj85f59	5	16	unstructured	unstructured	ADJ
1831cj85f59	5	17	text	text	NOUN
1831cj85f59	5	18	data	datum	NOUN
1831cj85f59	5	19	.	.	PUNCT
1831cj85f59	6	1	the	the	DET
1831cj85f59	6	2	obtained	obtain	VERB
1831cj85f59	6	3	formulas	formula	NOUN
1831cj85f59	6	4	are	be	AUX
1831cj85f59	6	5	used	use	VERB
1831cj85f59	6	6	to	to	PART
1831cj85f59	6	7	construct	construct	VERB
1831cj85f59	6	8	a	a	DET
1831cj85f59	6	9	domain	domain	NOUN
1831cj85f59	6	10	theory	theory	NOUN
1831cj85f59	6	11	storing	store	VERB
1831cj85f59	6	12	necessary	necessary	ADJ
1831cj85f59	6	13	knowledge	knowledge	NOUN
1831cj85f59	6	14	for	for	ADP
1831cj85f59	6	15	task	task	NOUN
1831cj85f59	6	16	planning	planning	PROPN
1831cj85f59	6	17	.	.	PUNCT
1831cj85f59	7	1	second	second	ADV
1831cj85f59	7	2	,	,	PUNCT
1831cj85f59	7	3	we	we	PRON
1831cj85f59	7	4	develop	develop	VERB
1831cj85f59	7	5	automatic	automatic	ADJ
1831cj85f59	7	6	task	task	NOUN
1831cj85f59	7	7	planning	planning	NOUN
1831cj85f59	7	8	with	with	ADP
1831cj85f59	7	9	an	an	DET
1831cj85f59	7	10	interactive	interactive	ADJ
1831cj85f59	7	11	proposer	proposer	NOUN
1831cj85f59	7	12	and	and	CCONJ
1831cj85f59	7	13	verifier	verifier	NOUN
1831cj85f59	7	14	for	for	ADP
1831cj85f59	7	15	intelligent	intelligent	ADJ
1831cj85f59	7	16	robots	robot	NOUN
1831cj85f59	7	17	based	base	VERB
1831cj85f59	7	18	on	on	ADP
1831cj85f59	7	19	the	the	DET
1831cj85f59	7	20	domain	domain	NOUN
1831cj85f59	7	21	theory	theory	NOUN
1831cj85f59	7	22	in	in	ADP
1831cj85f59	7	23	spatial	spatial	ADJ
1831cj85f59	7	24	temporal	temporal	ADJ
1831cj85f59	7	25	logic	logic	NOUN
1831cj85f59	7	26	.	.	PUNCT
1831cj85f59	8	1	the	the	DET
1831cj85f59	8	2	proposer	proposer	NOUN
1831cj85f59	8	3	is	be	AUX
1831cj85f59	8	4	used	use	VERB
1831cj85f59	8	5	to	to	PART
1831cj85f59	8	6	generate	generate	VERB
1831cj85f59	8	7	ordered	order	VERB
1831cj85f59	8	8	actions	action	NOUN
1831cj85f59	8	9	through	through	ADP
1831cj85f59	8	10	forward	forward	ADJ
1831cj85f59	8	11	graph	graph	NOUN
1831cj85f59	8	12	expansion	expansion	NOUN
1831cj85f59	8	13	and	and	CCONJ
1831cj85f59	8	14	backward	backward	ADJ
1831cj85f59	8	15	solution	solution	NOUN
1831cj85f59	8	16	extraction	extraction	NOUN
1831cj85f59	8	17	,	,	PUNCT
1831cj85f59	8	18	and	and	CCONJ
1831cj85f59	8	19	the	the	DET
1831cj85f59	8	20	verifier	verifier	NOUN
1831cj85f59	8	21	is	be	AUX
1831cj85f59	8	22	used	use	VERB
1831cj85f59	8	23	to	to	PART
1831cj85f59	8	24	verify	verify	VERB
1831cj85f59	8	25	the	the	DET
1831cj85f59	8	26	results	result	NOUN
1831cj85f59	8	27	from	from	ADP
1831cj85f59	8	28	the	the	DET
1831cj85f59	8	29	proposer	proposer	NOUN
1831cj85f59	8	30	and	and	CCONJ
1831cj85f59	8	31	generate	generate	VERB
1831cj85f59	8	32	executable	executable	ADJ
1831cj85f59	8	33	task	task	NOUN
1831cj85f59	8	34	plans	plan	NOUN
1831cj85f59	8	35	.	.	PUNCT
1831cj85f59	9	1	we	we	PRON
1831cj85f59	9	2	further	far	ADV
1831cj85f59	9	3	study	study	VERB
1831cj85f59	9	4	the	the	DET
1831cj85f59	9	5	scenario	scenario	NOUN
1831cj85f59	9	6	where	where	SCONJ
1831cj85f59	9	7	the	the	DET
1831cj85f59	9	8	domain	domain	NOUN
1831cj85f59	9	9	theory	theory	NOUN
1831cj85f59	9	10	for	for	ADP
1831cj85f59	9	11	task	task	NOUN
1831cj85f59	9	12	planning	planning	NOUN
1831cj85f59	9	13	is	be	AUX
1831cj85f59	9	14	incomplete	incomplete	ADJ
1831cj85f59	9	15	by	by	ADP
1831cj85f59	9	16	integrating	integrate	VERB
1831cj85f59	9	17	the	the	DET
1831cj85f59	9	18	task	task	NOUN
1831cj85f59	9	19	planning	plan	VERB
1831cj85f59	9	20	algorithm	algorithm	PROPN
1831cj85f59	9	21	with	with	ADP
1831cj85f59	9	22	machine	machine	NOUN
1831cj85f59	9	23	learning	learning	NOUN
1831cj85f59	9	24	systems	system	NOUN
1831cj85f59	9	25	.	.	PUNCT
1831cj85f59	10	1	the	the	DET
1831cj85f59	10	2	proposed	propose	VERB
1831cj85f59	10	3	framework	framework	NOUN
1831cj85f59	10	4	gives	give	VERB
1831cj85f59	10	5	intelligent	intelligent	ADJ
1831cj85f59	10	6	robots	robot	NOUN
1831cj85f59	10	7	the	the	DET
1831cj85f59	10	8	ability	ability	NOUN
1831cj85f59	10	9	to	to	PART
1831cj85f59	10	10	actively	actively	ADV
1831cj85f59	10	11	seeking	seek	VERB
1831cj85f59	10	12	knowledge	knowledge	NOUN
1831cj85f59	10	13	online	online	ADV
1831cj85f59	10	14	based	base	VERB
1831cj85f59	10	15	on	on	ADP
1831cj85f59	10	16	missing	miss	VERB
1831cj85f59	10	17	information.third	information.third	PROPN
1831cj85f59	10	18	,	,	PUNCT
1831cj85f59	10	19	we	we	PRON
1831cj85f59	10	20	study	study	VERB
1831cj85f59	10	21	a	a	DET
1831cj85f59	10	22	motion	motion	NOUN
1831cj85f59	10	23	planning	planning	NOUN
1831cj85f59	10	24	problem	problem	NOUN
1831cj85f59	10	25	for	for	ADP
1831cj85f59	10	26	intelligent	intelligent	ADJ
1831cj85f59	10	27	robots	robot	NOUN
1831cj85f59	10	28	under	under	ADP
1831cj85f59	10	29	formal	formal	ADJ
1831cj85f59	10	30	specifications	specification	NOUN
1831cj85f59	10	31	of	of	ADP
1831cj85f59	10	32	the	the	DET
1831cj85f59	10	33	proposed	propose	VERB
1831cj85f59	10	34	spatial	spatial	ADJ
1831cj85f59	10	35	temporal	temporal	ADJ
1831cj85f59	10	36	logic	logic	NOUN
1831cj85f59	10	37	.	.	PUNCT
1831cj85f59	11	1	we	we	PRON
1831cj85f59	11	2	develop	develop	VERB
1831cj85f59	11	3	a	a	DET
1831cj85f59	11	4	control	control	NOUN
1831cj85f59	11	5	synthesis	synthesis	NOUN
1831cj85f59	11	6	algorithm	algorithm	NOUN
1831cj85f59	11	7	for	for	ADP
1831cj85f59	11	8	the	the	DET
1831cj85f59	11	9	formal	formal	ADJ
1831cj85f59	11	10	specifications	specification	NOUN
1831cj85f59	11	11	by	by	ADP
1831cj85f59	11	12	proposing	propose	VERB
1831cj85f59	11	13	a	a	DET
1831cj85f59	11	14	two	two	NUM
1831cj85f59	11	15	-	-	PUNCT
1831cj85f59	11	16	layer	layer	NOUN
1831cj85f59	11	17	mpc	mpc	NOUN
1831cj85f59	11	18	framework	framework	NOUN
1831cj85f59	11	19	.	.	PUNCT
1831cj85f59	12	1	the	the	DET
1831cj85f59	12	2	high	high	ADJ
1831cj85f59	12	3	-	-	PUNCT
1831cj85f59	12	4	layer	layer	NOUN
1831cj85f59	12	5	transfers	transfer	NOUN
1831cj85f59	12	6	the	the	DET
1831cj85f59	12	7	global	global	ADJ
1831cj85f59	12	8	formal	formal	ADJ
1831cj85f59	12	9	specifications	specification	NOUN
1831cj85f59	12	10	into	into	ADP
1831cj85f59	12	11	a	a	DET
1831cj85f59	12	12	sequence	sequence	NOUN
1831cj85f59	12	13	of	of	ADP
1831cj85f59	12	14	sub	sub	NOUN
1831cj85f59	12	15	-	-	NOUN
1831cj85f59	12	16	formulas	formula	NOUN
1831cj85f59	12	17	and	and	CCONJ
1831cj85f59	12	18	the	the	DET
1831cj85f59	12	19	low	low	ADJ
1831cj85f59	12	20	-	-	PUNCT
1831cj85f59	12	21	layer	layer	NOUN
1831cj85f59	12	22	solves	solve	VERB
1831cj85f59	12	23	a	a	DET
1831cj85f59	12	24	distributed	distribute	VERB
1831cj85f59	12	25	mpc	mpc	NOUN
1831cj85f59	12	26	using	use	VERB
1831cj85f59	12	27	an	an	DET
1831cj85f59	12	28	milp	milp	NOUN
1831cj85f59	12	29	solver	solver	VERB
1831cj85f59	12	30	.	.	PUNCT
1831cj85f59	13	1	we	we	PRON
1831cj85f59	13	2	show	show	VERB
1831cj85f59	13	3	that	that	SCONJ
1831cj85f59	13	4	the	the	DET
1831cj85f59	13	5	proposed	propose	VERB
1831cj85f59	13	6	framework	framework	NOUN
1831cj85f59	13	7	is	be	AUX
1831cj85f59	13	8	sound	sound	ADJ
1831cj85f59	13	9	and	and	CCONJ
1831cj85f59	13	10	recursively	recursively	ADV
1831cj85f59	13	11	feasible	feasible	ADJ
1831cj85f59	13	12	.	.	PUNCT