FOON Graph Data

  • List of objects, states and motions used in network.
  • Use these files for mapping between ID numbers and labels.

  • Individual Subgraphs

    Download all 65 subgraphs: [ANNOTATED FILES] [VIDEOS]

    View all individual files here.

    Each of the videos in the original FOON dataset come from instructional videos which can be found on YouTube. Refer to here for mappings between YouTube videos and our subgraph videos.

    Universal FOON Graph (Merged from 65 videos)

    Download file: [ANNOTATED]

    Python Script (for Parsing and Simple Task Tree Retrieval)

    Download files: [MAIN FILE] [CLASS FILE]

    Use the main file for reading subgraph files (by placing the path to the subgraph file being read) and then use it for task retrieval. There are two options for retrieval: 1) search for all possible paths to a goal object, or 2) search for an exact solution to a goal object (given a list of items available).
  • To perform search #2, you will need a list of items such as this one.


  • For any information regarding the subgraph files, please contact davidpaulius@mail.usf.edu.

    Last updated: 22nd June, 2018