This paper introduces HARMONIC, a cognitive-robotic architecture designed for robots in human-robotic teams. HARMONIC supports semantic perception interpretation, human-like decision-making, and intentional language communication. It addresses the issues of safety and quality of results; aims to solve problems of data scarcity, explainability, and safety; and promotes transparency and trust. Two proof-of-concept HARMONIC-based robotic systems are demonstrated, each implemented in both a high-fidelity simulation environment and on physical robotic platforms.
@article{arxiv.2509.13279,
title = {HARMONIC: A Content-Centric Cognitive Robotic Architecture},
author = {Sanjay Oruganti and Sergei Nirenburg and Marjorie McShane and Jesse English and Michael K. Roberts and Christian Arndt and Carlos Gonzalez and Mingyo Seo and Luis Sentis},
journal= {arXiv preprint arXiv:2509.13279},
year = {2025}
}