让机器人像人一样思考、沟通，提升团队协作的透明与安全。
HARMONIC: A Content-Centric Cognitive Robotic Architecture
- 以语义理解为核心，实现类人决策与意图交流
- 在仿真与实体机器人上均验证系统有效性
- 适合需要高可信度协作的智能机器人场景
本文提出HARMONIC，一种面向人机协同团队的具身认知架构。该架构支持语义感知解析、类人决策与有意向的语言通信，旨在解决数据稀缺、可解释性差与安全性不足的问题，提升系统透明度与信任度。通过两个概念验证系统，分别在高保真仿真环境和真实物理机器人平台上实现，验证了其在复杂任务中的可行性与鲁棒性。
原文摘要 · Abstract (English)
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.
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