HARMONIC: A Content-Centric Cognitive Robotic Architecture
It addresses safety, explainability, and trust issues for robots in collaborative human-robotic teams, but appears incremental as it builds on existing cognitive-robotic architectures.
The paper tackles the problem of enabling robots in human-robotic teams to perform semantic perception, human-like decision-making, and intentional communication, resulting in the demonstration of two proof-of-concept systems in simulation and on physical robots.
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.