# HARMONIC: A Framework for Explanatory Cognitive Robots

arXiv: https://arxiv.org/abs/2409.18037 · HTML: https://mlsanity.com/paper/2409.18037/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 9 of its 20 references that are in the map.
- First posted on arXiv 26 Sep 2024.

## Builds on (most cited first, 9 of 9)

- [RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control](https://mlsanity.com/paper/2307.15818/) (2023)
- [Open X-Embodiment: Robotic Learning Datasets and RT-X Models](https://mlsanity.com/paper/2310.08864/) (2023)
- [LLMs Can't Plan, But Can Help Planning in LLM-Modulo Frameworks](https://mlsanity.com/paper/2402.01817/) (2024)
- [Behavior Trees in Robotics and AI: An Introduction](https://mlsanity.com/paper/1709.00084/) (2017)
- [A Survey of Behavior Trees in Robotics and AI](https://mlsanity.com/paper/2005.05842/) (2020)
- [Practical Verification of Decision-Making in Agent-Based Autonomous Systems](https://mlsanity.com/paper/1310.2431/) (2013)
- [KT-BT: A Framework for Knowledge Transfer Through Behavior Trees in Multi-Robot Systems](https://mlsanity.com/paper/2209.02886/) (2022)
- [Automating Knowledge Acquisition for Content-Centric Cognitive Agents Using LLMs](https://mlsanity.com/paper/2312.16378/) (2023)
- [IKT-BT: Indirect Knowledge Transfer Behavior Tree Framework for Multi-Robot Systems Through Communication Eavesdropping](https://mlsanity.com/paper/2312.11802/) (2023)

## Built on by (most cited first, 3 of 3)

- [Metacognition in Content-Centric Computational Cognitive C4 Modeling](https://mlsanity.com/paper/2503.17822/) (2025)
- [HARMONIC: A Content-Centric Cognitive Robotic Architecture](https://mlsanity.com/paper/2509.13279/) (2025)
- [Shapes of Cognition for Computational Cognitive Modeling](https://mlsanity.com/paper/2509.13288/) (2025)

## 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.