FOONets.com : The Functional Object-Oriented Network!
Welcome to the website of the Robot Perception and Action Lab's project
known as FOON, the Functional Object-Oriented Network.
viewing our graphs below which uses the D3.js library for visualization.
For images and videos from our publications related to FOON,
please click here!
FOON Graph Viewer
Instructions for FOON Graph Viewer:
Simply select a graph to view from the drop-down menu above.
You can also select the hierachy level which you would like to view by
selecting the radio buttons.
denote object nodes, while the
denote motion nodes.
Hovering the mouse cursor over any node highlights those nodes which are
neighbours to it.
If the layout rendered is not to your liking, you are free to zoom in/out of the
area or you can also drag nodes to better view their connecting edges and
For any inquiries on the graphs or data, please contact the developer at