HARMONIC: A Content-Centric Cognitive Robotic Architecture

Our framework, HARMONIC (Human-AI Robotic Team Member Operating with Natural Intelligence and Communication, Figure 1), is an implemented dual-control cognitive robotic architecture featuring distinct layers of strategic reasoning and tactical, skill-level control [20]. This approach advances the hybrid control systems and architectures reviewed by Dennis et al. [21] and contrasts with DIARC's [22], [23] integration strategy, which embeds the strategic layer within the tactical layer to support concurrent operation. The strategic layer of HARMONIC adapts a mature cognitive architecture, OntoAgent [24], [25], [17] for high-level reasoning, leveraging explicit, structured knowledge representations that can be inspected, verified, and incre-mentally expanded.