A Weighted Functional Object-Oriented Network for Human-Robot Collaboration (in review)

Note: This is the demonstration page to accompany the RA-L/ICRA 2019 Paper Submission.

INSTRUCTIONS : Select a tab to view the resulting task trees for the three (3) tasks of preparing tea, mashed potatoes, and ramen noodles.
  • If the layout rendered is not to your liking, you are free to zoom in/out of the area or you can drag nodes to better view their connecting edges and neighbours.
  • The videos showing the successful and unsuccessful executions are shown below the graph; the human-assisted action is labeled as "Human" within the red motion nodes.
  • If the player does not load the videos, you can download them here for viewing.



  • Successful Execution (M=3)

    Unsuccessful Execution (M=0)



    Successful Execution (M=1)

    Unsuccessful Execution (M=0)



    Successful Execution (M=2)

    Unsuccessful Execution (M=0)