HARMONIC: A Content-Centric Cognitive Robotic Architecture
HARMONIC: A Content-Centric Cognitive Robotic Architecture
著者: Sanjay Oruganti, Sergei Nirenburg, Marjorie McShane, Jesse English, Michael K. Roberts, Christian Arndt, Carlos Gonzalez, Mingyo Seo, Luis Sentis
分類: cs.RO, cs.AI, cs.CL
原文アブストラクト
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.