id	sid	tid	token	lemma	pos
9w032229v93	1	1	human	human	ADJ
9w032229v93	1	2	-	-	PUNCT
9w032229v93	1	3	robot	robot	NOUN
9w032229v93	1	4	collaboration	collaboration	NOUN
9w032229v93	1	5	(	(	PUNCT
9w032229v93	1	6	hrc	hrc	PROPN
9w032229v93	1	7	)	)	PUNCT
9w032229v93	1	8	studies	study	VERB
9w032229v93	1	9	how	how	SCONJ
9w032229v93	1	10	to	to	PART
9w032229v93	1	11	achieve	achieve	VERB
9w032229v93	1	12	effective	effective	ADJ
9w032229v93	1	13	collaborations	collaboration	NOUN
9w032229v93	1	14	between	between	ADP
9w032229v93	1	15	human	human	NOUN
9w032229v93	1	16	and	and	CCONJ
9w032229v93	1	17	robots	robot	NOUN
9w032229v93	1	18	to	to	PART
9w032229v93	1	19	take	take	VERB
9w032229v93	1	20	advantage	advantage	NOUN
9w032229v93	1	21	of	of	ADP
9w032229v93	1	22	the	the	DET
9w032229v93	1	23	flexibility	flexibility	NOUN
9w032229v93	1	24	from	from	ADP
9w032229v93	1	25	human	human	NOUN
9w032229v93	1	26	and	and	CCONJ
9w032229v93	1	27	the	the	DET
9w032229v93	1	28	autonomy	autonomy	NOUN
9w032229v93	1	29	from	from	ADP
9w032229v93	1	30	robots	robot	NOUN
9w032229v93	1	31	.	.	PUNCT
9w032229v93	2	1	most	most	ADJ
9w032229v93	2	2	of	of	ADP
9w032229v93	2	3	the	the	DET
9w032229v93	2	4	existing	exist	VERB
9w032229v93	2	5	work	work	NOUN
9w032229v93	2	6	in	in	ADP
9w032229v93	2	7	hrc	hrc	NOUN
9w032229v93	2	8	focused	focus	VERB
9w032229v93	2	9	on	on	ADP
9w032229v93	2	10	the	the	DET
9w032229v93	2	11	robot	robot	NOUN
9w032229v93	2	12	actuation	actuation	NOUN
9w032229v93	2	13	design	design	NOUN
9w032229v93	2	14	and	and	CCONJ
9w032229v93	2	15	low	low	ADJ
9w032229v93	2	16	-	-	PUNCT
9w032229v93	2	17	level	level	NOUN
9w032229v93	2	18	motion	motion	NOUN
9w032229v93	2	19	planning	planning	NOUN
9w032229v93	2	20	.	.	PUNCT
9w032229v93	3	1	however	however	ADV
9w032229v93	3	2	,	,	PUNCT
9w032229v93	3	3	many	many	ADJ
9w032229v93	3	4	applications	application	NOUN
9w032229v93	3	5	involving	involve	VERB
9w032229v93	3	6	hrc	hrc	PROPN
9w032229v93	3	7	,	,	PUNCT
9w032229v93	3	8	such	such	ADJ
9w032229v93	3	9	as	as	ADP
9w032229v93	3	10	joint	joint	ADJ
9w032229v93	3	11	assembly	assembly	NOUN
9w032229v93	3	12	manufacturing	manufacturing	NOUN
9w032229v93	3	13	systems	system	NOUN
9w032229v93	3	14	,	,	PUNCT
9w032229v93	3	15	need	need	VERB
9w032229v93	3	16	to	to	PART
9w032229v93	3	17	achieve	achieve	VERB
9w032229v93	3	18	high	high	ADJ
9w032229v93	3	19	-	-	PUNCT
9w032229v93	3	20	level	level	NOUN
9w032229v93	3	21	tasks	task	NOUN
9w032229v93	3	22	in	in	ADP
9w032229v93	3	23	a	a	DET
9w032229v93	3	24	provably	provably	ADV
9w032229v93	3	25	correct	correct	ADJ
9w032229v93	3	26	manner	manner	NOUN
9w032229v93	3	27	.	.	PUNCT
9w032229v93	4	1	in	in	ADP
9w032229v93	4	2	addition	addition	NOUN
9w032229v93	4	3	,	,	PUNCT
9w032229v93	4	4	many	many	ADJ
9w032229v93	4	5	hrc	hrc	NOUN
9w032229v93	4	6	applications	application	NOUN
9w032229v93	4	7	are	be	AUX
9w032229v93	4	8	safety	safety	NOUN
9w032229v93	4	9	critical	critical	ADJ
9w032229v93	4	10	,	,	PUNCT
9w032229v93	4	11	such	such	ADJ
9w032229v93	4	12	as	as	ADP
9w032229v93	4	13	advanced	advanced	ADJ
9w032229v93	4	14	driver	driver	NOUN
9w032229v93	4	15	assistance	assistance	NOUN
9w032229v93	4	16	systems	system	NOUN
9w032229v93	4	17	and	and	CCONJ
9w032229v93	4	18	intelligent	intelligent	ADJ
9w032229v93	4	19	service	service	NOUN
9w032229v93	4	20	robots	robot	NOUN
9w032229v93	4	21	.	.	PUNCT
9w032229v93	5	1	these	these	DET
9w032229v93	5	2	applications	application	NOUN
9w032229v93	5	3	motivate	motivate	VERB
9w032229v93	5	4	the	the	DET
9w032229v93	5	5	requirements	requirement	NOUN
9w032229v93	5	6	of	of	ADP
9w032229v93	5	7	hrc	hrc	NOUN
9w032229v93	5	8	to	to	PART
9w032229v93	5	9	have	have	VERB
9w032229v93	5	10	the	the	DET
9w032229v93	5	11	performance	performance	NOUN
9w032229v93	5	12	guarantee	guarantee	NOUN
9w032229v93	5	13	to	to	PART
9w032229v93	5	14	assure	assure	VERB
9w032229v93	5	15	the	the	DET
9w032229v93	5	16	task	task	NOUN
9w032229v93	5	17	completion	completion	NOUN
9w032229v93	5	18	and	and	CCONJ
9w032229v93	5	19	safety	safety	NOUN
9w032229v93	5	20	of	of	ADP
9w032229v93	5	21	both	both	PRON
9w032229v93	5	22	human	human	ADJ
9w032229v93	5	23	and	and	CCONJ
9w032229v93	5	24	robots	robot	NOUN
9w032229v93	5	25	.	.	PUNCT
9w032229v93	6	1	hence	hence	ADV
9w032229v93	6	2	,	,	PUNCT
9w032229v93	6	3	my	my	PRON
9w032229v93	6	4	ph.d	ph.d	PROPN
9w032229v93	6	5	.	.	PUNCT
9w032229v93	6	6	research	research	PROPN
9w032229v93	6	7	is	be	AUX
9w032229v93	6	8	motivated	motivate	VERB
9w032229v93	6	9	to	to	PART
9w032229v93	6	10	build	build	VERB
9w032229v93	6	11	a	a	DET
9w032229v93	6	12	correct	correct	ADJ
9w032229v93	6	13	-	-	PUNCT
9w032229v93	6	14	by	by	ADP
9w032229v93	6	15	-	-	PUNCT
9w032229v93	6	16	design	design	NOUN
9w032229v93	6	17	hrc	hrc	NOUN
9w032229v93	6	18	framework	framework	NOUN
9w032229v93	6	19	that	that	PRON
9w032229v93	6	20	enables	enable	VERB
9w032229v93	6	21	a	a	DET
9w032229v93	6	22	performance	performance	NOUN
9w032229v93	6	23	guaranteed	guarantee	VERB
9w032229v93	6	24	hrc	hrc	NOUN
9w032229v93	6	25	for	for	ADP
9w032229v93	6	26	the	the	DET
9w032229v93	6	27	safety	safety	NOUN
9w032229v93	6	28	of	of	ADP
9w032229v93	6	29	human	human	NOUN
9w032229v93	6	30	and	and	CCONJ
9w032229v93	6	31	robots	robot	NOUN
9w032229v93	6	32	and	and	CCONJ
9w032229v93	6	33	the	the	DET
9w032229v93	6	34	completion	completion	NOUN
9w032229v93	6	35	of	of	ADP
9w032229v93	6	36	high	high	ADJ
9w032229v93	6	37	-	-	PUNCT
9w032229v93	6	38	level	level	NOUN
9w032229v93	6	39	tasks	task	NOUN
9w032229v93	6	40	.	.	PUNCT
9w032229v93	7	1	for	for	ADP
9w032229v93	7	2	such	such	DET
9w032229v93	7	3	a	a	DET
9w032229v93	7	4	purpose	purpose	NOUN
9w032229v93	7	5	,	,	PUNCT
9w032229v93	7	6	cross	cross	ADJ
9w032229v93	7	7	-	-	ADJ
9w032229v93	7	8	disciplinary	disciplinary	ADJ
9w032229v93	7	9	approaches	approach	NOUN
9w032229v93	7	10	combining	combine	VERB
9w032229v93	7	11	methods	method	NOUN
9w032229v93	7	12	from	from	ADP
9w032229v93	7	13	supervisory	supervisory	ADJ
9w032229v93	7	14	control	control	NOUN
9w032229v93	7	15	theory	theory	NOUN
9w032229v93	7	16	,	,	PUNCT
9w032229v93	7	17	machine	machine	NOUN
9w032229v93	7	18	learning	learning	NOUN
9w032229v93	7	19	,	,	PUNCT
9w032229v93	7	20	and	and	CCONJ
9w032229v93	7	21	computational	computational	ADJ
9w032229v93	7	22	verification	verification	NOUN
9w032229v93	7	23	are	be	AUX
9w032229v93	7	24	pursued	pursue	VERB
9w032229v93	7	25	.	.	PUNCT
9w032229v93	8	1	in	in	ADP
9w032229v93	8	2	particular	particular	ADJ
9w032229v93	8	3	,	,	PUNCT
9w032229v93	8	4	three	three	NUM
9w032229v93	8	5	research	research	NOUN
9w032229v93	8	6	thrusts	thrust	NOUN
9w032229v93	8	7	are	be	AUX
9w032229v93	8	8	structured	structure	VERB
9w032229v93	8	9	to	to	PART
9w032229v93	8	10	emphasize	emphasize	VERB
9w032229v93	8	11	the	the	DET
9w032229v93	8	12	requirements	requirement	NOUN
9w032229v93	8	13	on	on	ADP
9w032229v93	8	14	uncertainties	uncertainty	NOUN
9w032229v93	8	15	modeling	model	VERB
9w032229v93	8	16	,	,	PUNCT
9w032229v93	8	17	high	high	ADJ
9w032229v93	8	18	-	-	PUNCT
9w032229v93	8	19	level	level	NOUN
9w032229v93	8	20	task	task	NOUN
9w032229v93	8	21	completion	completion	NOUN
9w032229v93	8	22	,	,	PUNCT
9w032229v93	8	23	and	and	CCONJ
9w032229v93	8	24	safety	safety	NOUN
9w032229v93	8	25	guarantees	guarantee	NOUN
9w032229v93	8	26	in	in	ADP
9w032229v93	8	27	hrc	hrc	PROPN
9w032229v93	8	28	.	.	PUNCT
9w032229v93	9	1	to	to	PART
9w032229v93	9	2	model	model	VERB
9w032229v93	9	3	the	the	DET
9w032229v93	9	4	uncertainties	uncertainty	NOUN
9w032229v93	9	5	from	from	ADP
9w032229v93	9	6	human	human	ADJ
9w032229v93	9	7	,	,	PUNCT
9w032229v93	9	8	robots	robot	NOUN
9w032229v93	9	9	and	and	CCONJ
9w032229v93	9	10	the	the	DET
9w032229v93	9	11	environment	environment	NOUN
9w032229v93	9	12	,	,	PUNCT
9w032229v93	9	13	partially	partially	ADV
9w032229v93	9	14	observable	observable	ADJ
9w032229v93	9	15	markov	markov	NOUN
9w032229v93	9	16	decision	decision	NOUN
9w032229v93	9	17	process	process	NOUN
9w032229v93	9	18	(	(	PUNCT
9w032229v93	9	19	pomdp	pomdp	NOUN
9w032229v93	9	20	)	)	PUNCT
9w032229v93	9	21	is	be	AUX
9w032229v93	9	22	used	use	VERB
9w032229v93	9	23	as	as	ADP
9w032229v93	9	24	the	the	DET
9w032229v93	9	25	model	model	NOUN
9w032229v93	9	26	for	for	ADP
9w032229v93	9	27	hrc	hrc	PROPN
9w032229v93	9	28	.	.	PUNCT
9w032229v93	10	1	with	with	ADP
9w032229v93	10	2	the	the	DET
9w032229v93	10	3	partial	partial	ADJ
9w032229v93	10	4	observability	observability	NOUN
9w032229v93	10	5	in	in	ADP
9w032229v93	10	6	pomdp	pomdp	NOUN
9w032229v93	10	7	,	,	PUNCT
9w032229v93	10	8	the	the	DET
9w032229v93	10	9	collaboration	collaboration	NOUN
9w032229v93	10	10	process	process	NOUN
9w032229v93	10	11	can	can	AUX
9w032229v93	10	12	be	be	AUX
9w032229v93	10	13	described	describe	VERB
9w032229v93	10	14	more	more	ADV
9w032229v93	10	15	accurately	accurately	ADV
9w032229v93	10	16	since	since	SCONJ
9w032229v93	10	17	the	the	DET
9w032229v93	10	18	sensing	sense	VERB
9w032229v93	10	19	ability	ability	NOUN
9w032229v93	10	20	of	of	ADP
9w032229v93	10	21	robots	robot	NOUN
9w032229v93	10	22	contains	contain	VERB
9w032229v93	10	23	uncertainties	uncertainty	NOUN
9w032229v93	10	24	for	for	ADP
9w032229v93	10	25	detections	detection	NOUN
9w032229v93	10	26	of	of	ADP
9w032229v93	10	27	the	the	DET
9w032229v93	10	28	human	human	ADJ
9w032229v93	10	29	behavior	behavior	NOUN
9w032229v93	10	30	and	and	CCONJ
9w032229v93	10	31	the	the	DET
9w032229v93	10	32	environment	environment	NOUN
9w032229v93	10	33	status	status	NOUN
9w032229v93	10	34	.	.	PUNCT
9w032229v93	11	1	based	base	VERB
9w032229v93	11	2	on	on	ADP
9w032229v93	11	3	the	the	DET
9w032229v93	11	4	pomdp	pomdp	NOUN
9w032229v93	11	5	modeling	modeling	NOUN
9w032229v93	11	6	,	,	PUNCT
9w032229v93	11	7	a	a	DET
9w032229v93	11	8	supervisory	supervisory	ADJ
9w032229v93	11	9	control	control	NOUN
9w032229v93	11	10	framework	framework	NOUN
9w032229v93	11	11	is	be	AUX
9w032229v93	11	12	established	establish	VERB
9w032229v93	11	13	.	.	PUNCT
9w032229v93	12	1	with	with	ADP
9w032229v93	12	2	the	the	DET
9w032229v93	12	3	high	high	ADJ
9w032229v93	12	4	-	-	PUNCT
9w032229v93	12	5	level	level	NOUN
9w032229v93	12	6	tasks	task	NOUN
9w032229v93	12	7	described	describe	VERB
9w032229v93	12	8	by	by	ADP
9w032229v93	12	9	temporal	temporal	ADJ
9w032229v93	12	10	logics	logic	NOUN
9w032229v93	12	11	,	,	PUNCT
9w032229v93	12	12	an	an	DET
9w032229v93	12	13	automata	automata	PROPN
9w032229v93	12	14	learning	learning	NOUN
9w032229v93	12	15	based	base	VERB
9w032229v93	12	16	algorithm	algorithm	PROPN
9w032229v93	12	17	is	be	AUX
9w032229v93	12	18	developed	develop	VERB
9w032229v93	12	19	to	to	PART
9w032229v93	12	20	learn	learn	VERB
9w032229v93	12	21	a	a	DET
9w032229v93	12	22	supervisor	supervisor	NOUN
9w032229v93	12	23	.	.	PUNCT
9w032229v93	13	1	in	in	ADP
9w032229v93	13	2	this	this	DET
9w032229v93	13	3	process	process	NOUN
9w032229v93	13	4	,	,	PUNCT
9w032229v93	13	5	computational	computational	ADJ
9w032229v93	13	6	verification	verification	NOUN
9w032229v93	13	7	techniques	technique	NOUN
9w032229v93	13	8	such	such	ADJ
9w032229v93	13	9	as	as	ADP
9w032229v93	13	10	model	model	NOUN
9w032229v93	13	11	checking	checking	NOUN
9w032229v93	13	12	are	be	AUX
9w032229v93	13	13	applied	apply	VERB
9w032229v93	13	14	to	to	PART
9w032229v93	13	15	verify	verify	VERB
9w032229v93	13	16	the	the	DET
9w032229v93	13	17	performance	performance	NOUN
9w032229v93	13	18	of	of	ADP
9w032229v93	13	19	the	the	DET
9w032229v93	13	20	system	system	NOUN
9w032229v93	13	21	and	and	CCONJ
9w032229v93	13	22	provide	provide	VERB
9w032229v93	13	23	counterexamples	counterexample	NOUN
9w032229v93	13	24	as	as	ADP
9w032229v93	13	25	feedback	feedback	NOUN
9w032229v93	13	26	information	information	NOUN
9w032229v93	13	27	to	to	PART
9w032229v93	13	28	improve	improve	VERB
9w032229v93	13	29	the	the	DET
9w032229v93	13	30	supervisor	supervisor	NOUN
9w032229v93	13	31	design	design	NOUN
9w032229v93	13	32	.	.	PUNCT
9w032229v93	14	1	to	to	PART
9w032229v93	14	2	reduce	reduce	VERB
9w032229v93	14	3	the	the	DET
9w032229v93	14	4	model	model	NOUN
9w032229v93	14	5	checking	check	VERB
9w032229v93	14	6	complexity	complexity	NOUN
9w032229v93	14	7	,	,	PUNCT
9w032229v93	14	8	an	an	DET
9w032229v93	14	9	abstraction	abstraction	NOUN
9w032229v93	14	10	method	method	NOUN
9w032229v93	14	11	for	for	ADP
9w032229v93	14	12	pomdp	pomdp	NOUN
9w032229v93	14	13	is	be	AUX
9w032229v93	14	14	proposed	propose	VERB
9w032229v93	14	15	to	to	PART
9w032229v93	14	16	find	find	VERB
9w032229v93	14	17	a	a	DET
9w032229v93	14	18	quotient	quotient	NOUN
9w032229v93	14	19	system	system	NOUN
9w032229v93	14	20	with	with	ADP
9w032229v93	14	21	a	a	DET
9w032229v93	14	22	smaller	small	ADJ
9w032229v93	14	23	size	size	NOUN
9w032229v93	14	24	of	of	ADP
9w032229v93	14	25	state	state	NOUN
9w032229v93	14	26	space	space	NOUN
9w032229v93	14	27	.	.	PUNCT
9w032229v93	15	1	the	the	DET
9w032229v93	15	2	basic	basic	ADJ
9w032229v93	15	3	idea	idea	NOUN
9w032229v93	15	4	is	be	AUX
9w032229v93	15	5	to	to	PART
9w032229v93	15	6	iteratively	iteratively	ADV
9w032229v93	15	7	refine	refine	VERB
9w032229v93	15	8	the	the	DET
9w032229v93	15	9	abstraction	abstraction	NOUN
9w032229v93	15	10	with	with	ADP
9w032229v93	15	11	counterexamples	counterexample	NOUN
9w032229v93	15	12	showing	show	VERB
9w032229v93	15	13	inconsistency	inconsistency	NOUN
9w032229v93	15	14	between	between	ADP
9w032229v93	15	15	the	the	DET
9w032229v93	15	16	abstract	abstract	ADJ
9w032229v93	15	17	system	system	NOUN
9w032229v93	15	18	and	and	CCONJ
9w032229v93	15	19	pomdp	pomdp	NOUN
9w032229v93	15	20	.	.	PUNCT
9w032229v93	16	1	furthermore	furthermore	ADV
9w032229v93	16	2	,	,	PUNCT
9w032229v93	16	3	the	the	DET
9w032229v93	16	4	adaptation	adaptation	NOUN
9w032229v93	16	5	abilities	ability	NOUN
9w032229v93	16	6	of	of	ADP
9w032229v93	16	7	the	the	DET
9w032229v93	16	8	supervisory	supervisory	ADJ
9w032229v93	16	9	control	control	NOUN
9w032229v93	16	10	framework	framework	NOUN
9w032229v93	16	11	are	be	AUX
9w032229v93	16	12	discussed	discuss	VERB
9w032229v93	16	13	for	for	ADP
9w032229v93	16	14	pomdp	pomdp	NOUN
9w032229v93	16	15	modeling	modeling	NOUN
9w032229v93	16	16	uncertainties	uncertainty	NOUN
9w032229v93	16	17	and	and	CCONJ
9w032229v93	16	18	online	online	ADJ
9w032229v93	16	19	model	model	NOUN
9w032229v93	16	20	changing	change	VERB
9w032229v93	16	21	.	.	PUNCT
9w032229v93	17	1	as	as	ADP
9w032229v93	17	2	the	the	DET
9w032229v93	17	3	primary	primary	ADJ
9w032229v93	17	4	contribution	contribution	NOUN
9w032229v93	17	5	of	of	ADP
9w032229v93	17	6	this	this	DET
9w032229v93	17	7	dissertation	dissertation	NOUN
9w032229v93	17	8	,	,	PUNCT
9w032229v93	17	9	the	the	DET
9w032229v93	17	10	pomdp	pomdp	NOUN
9w032229v93	17	11	supervisory	supervisory	ADJ
9w032229v93	17	12	control	control	NOUN
9w032229v93	17	13	framework	framework	NOUN
9w032229v93	17	14	gives	give	VERB
9w032229v93	17	15	a	a	DET
9w032229v93	17	16	high	high	ADJ
9w032229v93	17	17	-	-	PUNCT
9w032229v93	17	18	level	level	NOUN
9w032229v93	17	19	performance	performance	NOUN
9w032229v93	17	20	guarantee	guarantee	NOUN
9w032229v93	17	21	to	to	PART
9w032229v93	17	22	achieve	achieve	VERB
9w032229v93	17	23	the	the	DET
9w032229v93	17	24	correct	correct	ADJ
9w032229v93	17	25	-	-	PUNCT
9w032229v93	17	26	by	by	ADP
9w032229v93	17	27	-	-	PUNCT
9w032229v93	17	28	design	design	NOUN
9w032229v93	17	29	hrc	hrc	NOUN
9w032229v93	17	30	.	.	PUNCT
9w032229v93	18	1	a	a	DET
9w032229v93	18	2	non	non	ADJ
9w032229v93	18	3	-	-	ADJ
9w032229v93	18	4	blocking	blocking	ADJ
9w032229v93	18	5	and	and	CCONJ
9w032229v93	18	6	permissive	permissive	ADJ
9w032229v93	18	7	supervisor	supervisor	NOUN
9w032229v93	18	8	can	can	AUX
9w032229v93	18	9	be	be	AUX
9w032229v93	18	10	automatically	automatically	ADV
9w032229v93	18	11	learned	learn	VERB
9w032229v93	18	12	to	to	PART
9w032229v93	18	13	ensure	ensure	VERB
9w032229v93	18	14	the	the	DET
9w032229v93	18	15	satisfaction	satisfaction	NOUN
9w032229v93	18	16	of	of	ADP
9w032229v93	18	17	high	high	ADJ
9w032229v93	18	18	-	-	PUNCT
9w032229v93	18	19	level	level	NOUN
9w032229v93	18	20	tasks	task	NOUN
9w032229v93	18	21	represented	represent	VERB
9w032229v93	18	22	by	by	ADP
9w032229v93	18	23	temporal	temporal	ADJ
9w032229v93	18	24	logics	logic	NOUN
9w032229v93	18	25	.	.	PUNCT
9w032229v93	19	1	beyond	beyond	ADP
9w032229v93	19	2	the	the	DET
9w032229v93	19	3	theoretical	theoretical	ADJ
9w032229v93	19	4	work	work	NOUN
9w032229v93	19	5	,	,	PUNCT
9w032229v93	19	6	a	a	DET
9w032229v93	19	7	supervisor	supervisor	NOUN
9w032229v93	19	8	synthesis	synthesis	NOUN
9w032229v93	19	9	software	software	NOUN
9w032229v93	19	10	is	be	AUX
9w032229v93	19	11	developed	develop	VERB
9w032229v93	19	12	to	to	PART
9w032229v93	19	13	combine	combine	VERB
9w032229v93	19	14	existing	exist	VERB
9w032229v93	19	15	formal	formal	ADJ
9w032229v93	19	16	verification	verification	NOUN
9w032229v93	19	17	packages	package	NOUN
9w032229v93	19	18	and	and	CCONJ
9w032229v93	19	19	implement	implement	VERB
9w032229v93	19	20	the	the	DET
9w032229v93	19	21	proposed	propose	VERB
9w032229v93	19	22	algorithms	algorithm	NOUN
9w032229v93	19	23	,	,	PUNCT
9w032229v93	19	24	which	which	PRON
9w032229v93	19	25	helps	help	VERB
9w032229v93	19	26	to	to	PART
9w032229v93	19	27	apply	apply	VERB
9w032229v93	19	28	the	the	DET
9w032229v93	19	29	proposed	propose	VERB
9w032229v93	19	30	pomdp	pomdp	NOUN
9w032229v93	19	31	supervisory	supervisory	ADJ
9w032229v93	19	32	control	control	NOUN
9w032229v93	19	33	framework	framework	NOUN
9w032229v93	19	34	to	to	ADP
9w032229v93	19	35	different	different	ADJ
9w032229v93	19	36	hrc	hrc	PROPN
9w032229v93	19	37	applications	application	NOUN
9w032229v93	19	38	.	.	PUNCT