Task Planning with a Weighted Functional Object-Oriented Network

TL;DR – In this paper, we attempt to execute task plan sequences extracted from FOONs. However, these sequences may contain actions that are not executable by a robot. Therefore, a human is introduced in the planning and execution loop, and both the robot and human assistant work together to solve the task.

May 2021 · David Paulius, Kelvin Sheng Pei Dong, Yu Sun

Functional Object-Oriented Network: Construction & Expansion

TL;DR – In this paper, we explore methods in natural language processing (NLP) – specifically semantic similarity – for expanding or generalizing knowledge contained in a FOON. This alleviates the need for demonstrating and annotating graphs by other means.

May 2018 · David Paulius, Ahmad Babaeian Jelodar, Yu Sun