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This paper derives a nonlocal kinetic and hydrodynamic theory from Harmonic Theory's particle law, reducing bearing representations to signed perceptual channels and enabling the study of collective motion without explicit heading alignment. The theory predicts a torque-driven density instability where agents are directed towards density excesses and self-propelled inward, with perceptual channel order $n$ influencing conserved density at spatial order $k^{2n}$. The framework reveals how neural and sensory mechanisms translate into continuum coefficients, instabilities, and alignment-free collective motion, including bidirectional nematic columns and polar flow.
Collective motion emerges from perception alone, with density instabilities and pattern selection dictated by the order of sensory acuity and interaction distance, not just alignment.
How do neural representations of neighbors become collective material behavior? Harmonic Theory (HT) reduces bearing representations to signed perceptual channels traceable to sensory acuity, decision dynamics, and interaction distance. Here we derive a nonlocal kinetic and hydrodynamic theory from the HT particle law without introducing heading alignment. The resulting fields retain HT's order-resolved perceptual spectrum and keep the neural and sensory origin of each coefficient visible. The theory predicts a torque-driven density instability: HT's direct-approach channel turns agents toward density excesses, while self-propulsion carries them inward. For isotropic spatial interactions and positive rotational diffusion, perceptual channel $n$ generically first affects conserved density at spatial order $k^{2n}$, and the full radial transforms select finite pattern wavelengths. Two populations can share the same long-wave instability threshold yet select different initial pattern spacings because their higher perceptual channels differ. Beyond onset, the one-particle continuum sustains a bidirectional nematic column; a prescribed, symmetry-allowed two-stream response amplifies a directional imbalance into sustained polar flow. In a distinct pure-repulsion regime, one-particle calculations show polar transport and translating transverse bands, with late pattern selection sensitive to numerical transport. The framework connects neural and sensory mechanisms to continuum coefficients, instabilities, and alignment-free collective motion.