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arXiv · 2509.13279

HARMONIC: A Content-Centric Cognitive Robotic Architecture

Sanjay Oruganti·Sergei Nirenburg·Marjorie McShane·Jesse English·Michael K. Roberts·Christian Arndt·Carlos Gonzalez·Mingyo Seo·Luis Sentis
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Abstract

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.

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Sanjay Oruganti, Sergei Nirenburg, Marjorie McShane, Jesse English, Michael K. Roberts, Christian Arndt, Carlos Gonzalez, Mingyo Seo, Luis Sentis. 2025-09-16. HARMONIC: A Content-Centric Cognitive Robotic Architecture. https://arxiv.org/abs/2509.13279

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