A Road-map to Robot Task Execution with the Functional Object-Oriented Network

• URL: http://arxiv.org/abs/2106.00158v1
• Date: Tue, 1 Jun 2021 00:43:04 GMT
• Title: A Road-map to Robot Task Execution with the Functional Object-Oriented Network
• Authors: David Paulius, Alejandro Agostini, Yu Sun and Dongheui Lee
• Abstract summary: functional object-oriented network (FOON) is a knowledge graph representation for robots. Taking the form of a bipartite graph, a FOON contains symbolic or high-level information that would be pertinent to a robot's understanding of its environment and tasks.
• Score: 77.93376696738409
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Following work on joint object-action representations, the functional object-oriented network (FOON) was introduced as a knowledge graph representation for robots. Taking the form of a bipartite graph, a FOON contains symbolic or high-level information that would be pertinent to a robot's understanding of its environment and tasks in a way that mirrors human understanding of actions. In this work, we outline a road-map for future development of FOON and its application in robotic systems for task planning as well as knowledge acquisition from demonstration. We propose preliminary ideas to show how a FOON can be created in a real-world scenario with a robot and human teacher in a way that can jointly augment existing knowledge in a FOON and teach a robot the skills it needs to replicate the demonstrated actions and solve a given manipulation problem.

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