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The fire broke out around 11:45 p.m. Tuesday at a home on Willow Street in Franklin Township.
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On Thursday, officials ruled the deaths accidental.
The victims were identified as 37-year-old Aida Marrero and her four children: 14-year-old Kaylee Quevedo, 6-year-old Matthias Wheelock, 5-year-old Aiden Wheelock, and 1-year-old Nathaniel Wheelock.
Authorities confirmed all five were members of the same family, and Marrero was the mother of the children.
The causes of death include smoke inhalation, thermal burns, and inhalation of products of combustion.
Pennsylvania State Police say there are no suspicious circumstances surrounding the fire, but a cause remains under investigation.