# Knowledge Retrieval Using Functional Object-Oriented Networks

arXiv: https://arxiv.org/abs/2211.14896 · HTML: https://mlsanity.com/paper/2211.14896/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 2 of its 2 references that are in the map.
- First posted on arXiv 27 Nov 2022.

## Builds on (most cited first, 2 of 2)

- [Functional Object-Oriented Network for Manipulation Learning](https://mlsanity.com/paper/1902.01537/) (2019)
- [Approximate Task Tree Retrieval in a Knowledge Network for Robotic Cooking](https://mlsanity.com/paper/2207.03693/) (2022)

## Abstract (arXiv)

Robotic agents often perform tasks that transform sets of input objects into output objects through functional motions. This work describes the FOON knowledge representation model for robotic tasks. We define the structure and key components of FOON and describe the process we followed to create our universal FOON dataset. The paper describes various search algorithms and heuristic functions we used to search for objects within the FOON. We performed multiple searches on our universal FOON using these algorithms and discussed the effectiveness of each algorithm.