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This article gives an overview of cognition-enabled robot control, a computational model for controlling autonomous service robots to achieve home chore task intelligence. For the realization of task intelligence, this computational model puts forth three core principles, which essentially involve the combination of reactive behavior specifications represented as semantically interpretable plans with inference mechanisms that enable flexible decision making. The representation of behavior specifications as plans enables the robot to not only execute the behavior specifications but also to reason about them and alter them during execution. We provide a description of a complete system for cognition-enabled robot control that implements the three core principles, demonstrating the feasibility of our approach.