HARMONIC: A Framework for Explanatory Cognitive Robots
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Abstract (arXiv)
We present HARMONIC, a framework for implementing cognitive robots that transforms general-purpose robots into trusted teammates capable of complex decision-making, natural communication and human-level explanation. The framework supports interoperability between a strategic (cognitive) layer for high-level decision-making and a tactical (robot) layer for low-level control and execution. We describe the core features of the framework and our initial implementation, in which HARMONIC was deployed on a simulated UGV and drone involved in a multi-robot search and retrieval task.
Key facts. Cited by 3 papers in the map (data through 7 Oct 2026). Builds on 9 of its 20 references that are in the map. First posted on arXiv 26 Sep 2024.
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9 of 20 references.
References · 9
- 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Controlcited by 2,993
- 2023Open X-Embodiment: Robotic Learning Datasets and RT-X Modelscited by 849
- 2024LLMs Can't Plan, But Can Help Planning in LLM-Modulo Frameworkscited by 178
- 2017Behavior Trees in Robotics and AI: An Introductioncited by 105
- 2020A Survey of Behavior Trees in Robotics and AIcited by 53
- 2013Practical Verification of Decision-Making in Agent-Based Autonomous Systemscited by 11
- 2022KT-BT: A Framework for Knowledge Transfer Through Behavior Trees in Multi-Robot Systemscited by 6
- 2023Automating Knowledge Acquisition for Content-Centric Cognitive Agents Using LLMscited by 4
- 2023IKT-BT: Indirect Knowledge Transfer Behavior Tree Framework for Multi-Robot Systems Through Communication Eavesdroppingcited by 2
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Citing papers per year: 2025: 3.
3 papers.