• This was the very first paper on FOON: the functional object-oriented network. Here, we introduced what they are and how they can be used for task planning through a procedure called task tree retrieval.


D. Paulius, Y. Huang, R. Milton, W. D. Buchanan, J. Sam, and Y. Sun (2016). “Functional Object-Oriented Network for Manipulation Learning”. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). pp. 2655–2662. IEEE.