Home Page

Welcome to the website of the Robot Perception and Action Lab's project known as FOON, the Functional Object-Oriented Network.
We provide interested users a Javascript-based interface for 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


Level 1 Level 2 Level 3

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.
  • The green nodes denote object nodes, while the red nodes 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 neighbours.
  • For any inquiries on the graphs or data, please contact the developer at davidpaulius@mail.usf.edu.


    Last updated: 21st February, 2017