['he', 'join', 'they', 'Voyager', 'aboard'] ['he', 'work', 'find', 'they', 'with'] ['he', 'find', 'way', 'EmptyParameter', 'EmptyParameter']
['<PRP>', 'mix-22.1-2-1', '<PRP>', '<VESSEL>0', 'aboard'] ['<PRP>', 'function-105.2.1-1', 'declare-29.4', '<PRP>', 'with'] ['<PRP>', 'declare-29.4', "Synset('concept.n.01')", 'EmptyParameter', 'EmptyParameter']
He join them aboard Voyager and work with them to find a way to escape.
<PRP> join <PRP> aboard <VESSEL>0 and work with <PRP> to find a Synset('concept.n.01') to escape.