mlsanityData to 14 Oct 2026

HARMONIC: A Content-Centric Cognitive Robotic Architecture

arXiv 2509.13279 ↗First posted 16 Sep 2025cs.RO cs.AI cs.CLcited by 0

Not on the map. Why?

Abstract (arXiv)

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.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 18 of its 42 references that are in the map. First posted on arXiv 16 Sep 2025.

Builds on

18 of 42 references.

References · 18

  1. 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Controlcited by 3,080
  2. 2024OpenVLA: An Open-Source Vision-Language-Action Modelcited by 2,887
  3. 2024π0: A Vision-Language-Action Flow Model for General Robot Controlcited by 2,407
  4. 2022Do As I Can, Not As I Say: Grounding Language in Robotic Affordancescited by 2,348
  5. 2025GR00T N1: An Open Foundation Model for Generalist Humanoid Robotscited by 1,225
  6. 2023Open X-Embodiment: Robotic Learning Datasets and RT-X Modelscited by 862
  7. 2024Hallucination of Multimodal Large Language Models: A Surveycited by 388
  8. 2017Behavior Trees in Robotics and AI: An Introductioncited by 107
  9. 2024AutoRT: Embodied Foundation Models for Large Scale Orchestration of Robotic Agentscited by 87
  10. 2024Real-World Robot Applications of Foundation Models: A Reviewcited by 61
  11. 2013Practical Verification of Decision-Making in Agent-Based Autonomous Systemscited by 11
  12. 2021On the Implementation of Behavior Trees in Roboticscited by 9
6 more
  1. 2025RoBridge: A Hierarchical Architecture Bridging Cognition and Execution for General Robotic Manipulationcited by 8
  2. 2025BOSS: Benchmark for Observation Space Shift in Long-Horizon Taskcited by 7
  3. 2022KT-BT: A Framework for Knowledge Transfer Through Behavior Trees in Multi-Robot Systemscited by 6
  4. 2023Automating Knowledge Acquisition for Content-Centric Cognitive Agents Using LLMscited by 4
  5. 2024HARMONIC: A Framework for Explanatory Cognitive Robotscited by 3
  6. 2022Heterogeneous Full-body Control of a Mobile Manipulator with Behavior Treescited by 2

Built on by

Not cited yet.