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Robotic agents often perform tasks that transform sets of input objects intooutput objects through functional motions. This work describes the FOONknowledge representation model for robotic tasks. We define the structure andkey components of FOON and describe the process we followed to create ouruniversal FOON dataset. The paper describes various search algorithms andheuristic functions we used to search for objects within the FOON. We performedmultiple searches on our universal FOON using these algorithms and discussedthe effectiveness of each algorithm.

Knowledge Retrieval Using Functional Object-Oriented Networks