# Functional Object-Oriented Network: Construction & Expansion

arXiv: https://arxiv.org/abs/1807.02189 · HTML: https://mlsanity.com/paper/1807.02189/

## Key facts

- Cited by 16 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 5 Jul 2018.

## Built on by (most cited first, 16 of 16)

- [From Cooking Recipes to Robot Task Trees -- Improving Planning Correctness and Task Efficiency by Leveraging LLMs with a Knowledge Network](https://mlsanity.com/paper/2309.09181/) (2023)
- [Evaluating Recipes Generated from Functional Object-Oriented Network](https://mlsanity.com/paper/2106.00728/) (2021)
- [Long-Horizon Planning and Execution with Functional Object-Oriented Networks](https://mlsanity.com/paper/2207.05800/) (2022)
- [Cooking Object's State Identification Without Using Pretrained Model](https://mlsanity.com/paper/2103.02305/) (2021)
- [Pouring Dynamics Estimation Using Gated Recurrent Units](https://mlsanity.com/paper/2105.12828/) (2021)
- [A Road-map to Robot Task Execution with the Functional Object-Oriented Network](https://mlsanity.com/paper/2106.00158/) (2021)
- [Functional Task Tree Generation from a Knowledge Graph to Solve Unseen Problems](https://mlsanity.com/paper/2112.02433/) (2021)
- [Calorie Aware Automatic Meal Kit Generation from an Image](https://mlsanity.com/paper/2112.09839/) (2021)
- [Grounding of the Functional Object-Oriented Network in Industrial Tasks](https://mlsanity.com/paper/2204.02274/) (2022)
- [Task Tree Retrieval for Robotic Cooking](https://mlsanity.com/paper/2211.01745/) (2022)
- [Knowledge Retrieval using Functional Object-Oriented Network](https://mlsanity.com/paper/2211.03037/) (2022)
- [Knowledge Retrieval using Foon](https://mlsanity.com/paper/2211.03790/) (2022)
- [Knowledge Retrieval for Robotic Cooking](https://mlsanity.com/paper/2211.04524/) (2022)
- [Task Tree Retrieval Algorithms for Robotic Cooking Using The Functional Object-Oriented Network](https://mlsanity.com/paper/2211.06743/) (2022)
- [Task tree retrieval from FOON using search algorithms](https://mlsanity.com/paper/2401.05346/) (2023)
- [Prompting Task Trees using Gemini: Methodologies and Insights](https://mlsanity.com/paper/2405.03671/) (2024)

## Abstract (arXiv)

We build upon the functional object-oriented network (FOON), a structured knowledge representation which is constructed from observations of human activities and manipulations. A FOON can be used for representing object-motion affordances. Knowledge retrieval through graph search allows us to obtain novel manipulation sequences using knowledge spanning across many video sources, hence the novelty in our approach. However, we are limited to the sources collected. To further improve the performance of knowledge retrieval as a follow up to our previous work, we discuss generalizing knowledge to be applied to objects which are similar to what we have in FOON without manually annotating new sources of knowledge. We discuss two means of generalization: 1) expanding our network through the use of object similarity to create new functional units from those we already have, and 2) compressing the functional units by object categories rather than specific objects. We discuss experiments which compare the performance of our knowledge retrieval algorithm with both expansion and compression by categories.