In some embodiments, a functional object-oriented network (FOON) is provided that includes a plurality of functional units each comprising two or more input object nodes that each identify an object and its state before a manipulation motion is performed, a motion node that identifies a manipulation motion that can be performed using the objects, and one or more output object nodes that each identify an object and its state after the manipulation motion has been performed using the objects. In some embodiment, a robot can used the FOON to determine the discrete actions that are required to perform a given task.
Sun, Yu, "Functional object-oriented networks for manipulation learning" (2020). USF Patents. 1200.
University of South Florida