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This is the official website for the Robot Perception and Action Lab's knowledge representation data set known as the FOON, the Functional Object-Oriented Network.

Give our visualizer tool below a try! You can drag nodes around and zoom in/out. The green nodes denote objects, while the red nodes denote motions.


 
Level 1 Level 2 Level 3
 

For any inquiries on the graphs or data, please email David Paulius at davidpaulius@usf.edu or Yu Sun (PI) at yusun@usf.edu.


If using this data set or citing this work, please use the following citations:

Paulius, D., Huang, Y., Milton, R., Buchanan, W. D., Sam, J., & Sun, Y. (2016). Functional Object-Oriented Network for Manipulation Learning. In 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 2655-2662). IEEE. [pdf] [arXiv]

Bibtex:
@inproceedings{paulius2016functional,
  title={Functional Object-Oriented Network for Manipulation Learning},
  author={Paulius, David and Huang, Yongqiang and Milton, Roger and Buchanan, William D and Sam, Jeanine and Sun, Yu},
  booktitle={2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  doi={10.1109/IROS.2016.7759413},
  ISSN={2153-0866},
  pages={2655--2662},
  year={2016},
  organization={IEEE}
}


Paulius, D., Jelodar, A. B., & Sun, Y. (2018). Functional Object-Oriented Network: Construction and Expansion. In 2018 IEEE International Conference on Robotics and Automation (ICRA) (pp. 5935-5941). IEEE. [pdf] [arXiv]

Bibtex:
@inproceedings{paulius2018functional,
  title={{Functional Object-Oriented Network: Construction \& Expansion}},
  author={Paulius, David and Jelodar, Ahmad B and Sun, Yu},
  booktitle={2018 IEEE International Conference on Robotics and Automation (ICRA)},
  doi={10.1109/ICRA.2018.8460200},
  pages={5935-5941},
  ISSN={2577-087X},
  year={2018},
  organization={IEEE}
}