A Weighted Functional Object-Oriented Network for Task Planning

Prior to this work, we introduced the functional object-oriented network (FOON) as a graphical knowledge representation for manipulations that can be performed by domestic robots. However, up to this point, we did not account for real robot task planning with FOON due to the difficulty in robots performing certain manipulations on its own due to physical limitations. We therefore propose human-robot collaboration (HRC) as a solution to robotic programming with FOON. The knowledge retrieval procedure, used for acquiring a sequence that solves a given problem, is modified to include weights that reflect the robot's chance of successfully executing motions. To make it easier for the robot, a human can assist to the minimal extent needed to perform the activity to completion by delegating those actions with low success rates to the human to do. From our experiments, we show that tasks can be completed successfully with the aid of the assistant and instruction from the robot while minimizing the effort needed from the human.