Adsorption of gas molecules on the surface of atomically layered two-dimensional (2D) materials, including graphene and transition metal dichalcogenides, can significantly affect their electrical and optical properties. Therefore, a microscopic and quantitative understanding of the mechanism and dynamics of molecular adsorption and desorption has to be achieved in order to advance device applications based on these materials. However, recent theoretical calculations have yielded contradictory results, particularly on the magnitude of the adsorption energy. Here, we have experimentally determined the adsorption energy of oxygen molecules on graphene and 2D tungsten disulfide using temperature-programmed terahertz (THz) emission microscopy (TPTEM). The temperature dependence of THz emission from InP surfaces covered with 2D materials reflects the change in oxygen concentration due to thermal desorption, which we used to estimate the adsorption energy of oxygen molecules on graphene (~0.15 eV) and tungsten disulphide (~0.24 eV). Furthermore, we used TPTEM to visualize relative changes in the spatial distribution of oxygen molecules on monolayer graphene during adsorption and desorption. Our results provide much insight into the mechanism of molecular adsorption on the surface of 2D materials, while introducing TPTEM as a novel and powerful tool for molecular surface science.The successful isolation of monolayer graphene in 2004 and its remarkable properties found subsequently have paved the way for a new research field of two-dimensional (2D) atomic layer materials [1][2][3][4] . Many other 2D materials have since been discovered with a wide range of characteristics, from metallic to semiconducting to insulating, opening up exciting new opportunities for the development of devices based on monolayers, bilayers, and heterostructures of 2D materials [5][6][7][8] . However, since these materials typically consist of one or a few atomic layers, their properties are extremely susceptible to perturbations from their environment. Exposure to gases, for example, has been shown to drastically affect their electrical and optical properties [9][10][11][12][13][14][15] , which means that in order to realize 2D-materials-based devices, it is crucial to understand and control the influence of gas adsorption and desorption dynamics on their properties.Of the possible gas adsorbates/contaminants, oxygen (O 2 ) is one of the most important because not only it significantly alters the properties through doping, it is also the second most abundant gas in the atmosphere and is therefore highly likely to affect the performance of devices in practical applications. Though theoretical simulations proved to be useful in understanding the interaction of O 2 molecules and/or O atoms with 2D materials, conflicting results for the adsorption energies were obtained due to the inability of the approximation functionals used to properly describe the dispersion forces [16][17][18][19][20][21][22][23] . Knowing the correct value of the adsorption ...