{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/functional-object-oriented-network-for","title":"Functional Object-Oriented Network for Manipulation Learning","arxiv_id":"1902.01537","date":"2019-02-05","proceeding":null,"authors":["David Paulius","Yongqiang Huang","Roger Milton","William D. Buchanan","Jeanine Sam","Yu Sun"],"abstract":"This paper presents a novel structured knowledge representation called the functional object-oriented network (FOON) to model the connectivity of the functional-related objects and their motions in manipulation tasks. The graphical model FOON is learned by observing object state change and human manipulations with the objects. Using a well-trained FOON, robots can decipher a task goal, seek the correct objects at the desired states on which to operate, and generate a sequence of proper manipulation motions. The paper describes FOON's structure and an approach to form a universal FOON with extracted knowledge from online instructional videos. A graph retrieval approach is presented to generate manipulation motion sequences from the FOON to achieve a desired goal, demonstrating the flexibility of FOON in creating a novel and adaptive means of solving a problem using knowledge gathered from multiple sources. The results are demonstrated in a simulated environment to illustrate the motion sequences generated from the FOON to carry out the desired tasks.","url_abs":"http://arxiv.org/abs/1902.01537v3","url_pdf":"http://arxiv.org/pdf/1902.01537v3.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"functional-object-oriented-network-for","repo_url":"https://github.com/davidpaulius/foon_api","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"GPL-3.0"}}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":"https://syntology.ai/paper/1902.01537","atlas_url":"https://app.syntology.ai/?focus=1902.01537","mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}