Digital Twins

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Digital twins are computational counterparts of physical assets, people, or broader systems, updated with observations to represent their changing state and test possible actions. Approaches range from physics-based simulation and data assimilation to machine-learning surrogates, hybrid models, generative agents, and reinforcement learning for control. Applications span manufacturing, infrastructure, transportation, healthcare, energy, and social systems, where twins can support forecasting, maintenance, safety testing, and personalized decisions. A central challenge is ensuring that a twin remains calibrated and trustworthy as conditions change, while balancing fidelity, uncertainty, computation, privacy, and validation against real-world outcomes.

Latest papers

253 papers36 papers in the last four weeks, up 16% on the four weeks before. 0.2% of all new papers.

Sep 8, 2026

Agentic AI-enabled Semantic Commissioning of a Cognitive Digital Twin for Reconfigurable Manufacturing

Rapid bespoke commissioning of the Cognitive Digital Twin (CDT) is a major challenge in reconfigurable manufacturing. Traditional digital twin (DT) construction methods primarily focus on geometric reconstruction, often neglecting the deep semantic integration and functional interoperability necessary for autonomous reasoning. This paper proposes an agent-based, AI-driven workflow to automate end-to-end CDT debugging. The system utilises LangGraph as a multi-agent orchestration engine to achieve dual-path synthesis: the semantic path extracts technical specifications from unstructured documents using Retrieval Augmented Generation (RAG), while the functional path autonomously discovers and binds to real-time industrial telemetry data using Model Context Protocol (MCP). Experimental validation in a robotic machining cell demonstrates that the system achieves a mean average accuracy (mAP) of 97.2% in perception and reduces the deployment cycle from several weeks to an average of 2 hours, marking a paradigm shift from manual scripting to autonomous orchestration.

Yangyang Liu, Xun Xu, Jan Polzer

Manufacturing Digital Twins

Sep 7, 2026

When Can LLM Digital Twins Reduce Human Measurement? From Behavioral Fidelity to Statistical Substitutability

LLM-based digital twins promise to reduce repeated human data collection by generating person- specific responses, yet existing evaluations provide little evidence about whether they can reduce human measurement while preserving valid inference. To address this, we introduce statistical substitutability, an inferential criterion that evaluates the extent to which twin predictions can reduce human measurement for a particular estimand while preserving valid inference. We develop a framework, grounded in mixed-subject and prediction-powered inference, that evaluates statistical substitutability along four dimensions: aggregate fidelity, paired respondent-level signal, finite-sample human-label recovery, and stability across populations. Across two empirical evaluations spanning behavioral experiments, multiple models, and alternative respondent representations, we find that digital twins can reproduce average human effects while providing little information about which individuals differ from those averages. Newer models and richer respondent information improve some dimensions of performance but do not reliably translate into human-data savings. Human calibration can reduce aggregate prediction error, yet limited labeled samples often fail to produce stable precision gains. Importantly, these findings demonstrate that behavioral fidelity is neither necessary nor sufficient for statistical substitutability. More broadly, they suggest that AI-generated evidence should be evaluated based on its ability to support valid scientific inference rather than its ability to reproduce human outcomes alone. Digital twins should therefore be judged for confirmatory use by whether they reduce uncertainty about human quantities, not merely by whether they reproduce human means, distributions, or effects.

Steven Wang, Kyle Hunt, Shaojie Tang +1

University at Buffalo

Human Behavior Simulation Digital Twins

Sep 7, 2026

KODAMA: Multimodal Digital Twin Reconstruction for Urban RF Propagation Modelling

3D reconstruction typically strives for geometric fidelity or visual plausibility. Radio frequency digital twins (RFDT) are instead judged by whether communication channels behave in them as they do in the real world. RFDTs promise site-specific channel prediction but current practice forces a choice between coarse automated scenes and hand-built, measurement-calibrated models that take weeks to construct per-site. We present KODAMA, an automated pipeline that reconstructs ray tracing-ready RFDTs at city scale from off-the-shelf geospatial data alone: aerial imagery, LiDAR, and photogrammetry yield terrain and watertight building meshes, while exposure-weighted multi-view fusion of street-level imagery recovers façade relief, electromagnetic materials, and clutter---all without site visits or calibration. Across three sites spanning 3.6 to 28 GHz, KODAMA's uncalibrated predictions achieve single-digit RMSE, reducing point-to-point error by up to 5.35 dB over automated baselines and coming within 0.22 dB of a measurement-calibrated, hand-built RFDT.

Maximiliano Wardle, A. Ryo Koblitz

Nokia Bell Labs · University of York

3D Reconstruction Radio Propagation Modeling Digital Twins

Sep 5, 2026

Sparse Incident-Cluster Learning for 12-hour Port Flood Pre-warning in Digital-Twin Analytics

Port flood digital twins require analytics that warn operators before disruption, but official warning incidents are often few and adjacent observations are temporally dependent. Row-level classification can therefore overstate performance by placing windows from the same event in both model-development and evaluation data. We formulate 12-hour port flood pre-warning as an incident-cluster learning problem and evaluate a digital-twin analytics module using eight-point water-level histories, prediction-time contextual covariates, and interpretable short-window dynamics. The protocol combines fold-specific sparse feature selection, warning-cluster grouping, negative-label controls, 100-repeat random top-k controls, and alert-episode evaluation. Liverpool is the primary four-cluster case study, with harmonised Humber/Hull-proxy and Wessex South data used for protocol-transfer checks. Across the Liverpool folds, the top-10 ElasticNet model achieves mean F2 = 0.696, compared with 0.633 without top-k truncation and 0.681 for full-feature weighted XGBoost. It is the strongest ElasticNet variant, remains competitive with the nonlinear reference using only ten predictors, and exceeds the repeat-level 95th percentile of broad and same-family random subsets. Contextual covariates provide a strong prediction-time anchor, complemented by physically interpretable local dynamics. Historical replay converts risk scores into alert episodes and measures alert duration and false-episode burden. The result is an offline-evaluated analytics and validation module designed for integration into a port digital twin.

Jie Zhang, Qiang Ni, David Windridge +1

Lancaster University, Lancaster, United Kingdom · Middlesex University, London, United Kingdom

Flood Forecasting Digital Twins

Sep 3, 2026

DNative-Twin: Decision Graphs and Digital Twins for Reconstructable Agentic Decisions

AI agents increasingly gather evidence, invoke tools, apply constraints, and produce decisions that people or software may commit to action. A final output alone cannot show which evidence, tool state, rule, authorization, or action path produced it. We present DNative-Twin, a graph-native digital twin that records a committed agentic decision as a typed trajectory and re-executes its decision mechanism under declared conditions. The graph links the state observed by the agent, the path it followed, and the authority behind the resulting action. The twin synchronizes this information, replays the mechanism in isolation, and compares it under controlled changes. We instantiate the framework in enterprise decision processes using three public process logs and controlled replay suites. The experiments identify a specific failure: graph structure localizes represented changes but cannot determine the consequence of an unobserved tool state. In a three-condition controlled experiment with 300 injected instances, unresolved-divergence recall increased from 0 to 0.667 when replay-contract state was added and to 1.0 when verification results were also available; the held-out set contained no critical-class instance. Across 500--5,000 BPI 2020 cases, median end-to-end time increased from 0.794 to 8.889 seconds on the reported platform. These results separate the roles of graph structure, replay context, and verification evidence in reviewing a decision mechanism.

Junjie Pang, Zhenzhen Xie, Haoke Han +3

Qingdao University, Qingdao, China · Shandong University, Qingdao, China · Hangzhou Shujiao Technology Partnership (Limited Partnership), Hangzhou, China +1

Data Provenance AI Agent Auditing AI Agent Monitoring Digital Twins

Sep 1, 2026

Tri-Band Channel Measurement-Enabled Multi-Layer Digital Twin for Terahertz Wireless Data Centers

The rapid growth of AI computing has driven increasing demands for flexible and high-capacity data-center interconnections. Owing to its ultra-wide bandwidth and high spatial reuse capability, terahertz (THz) communication has emerged as a promising solution for future wireless data centers, while digital twins (DTs) enable efficient wireless planning and real-time optimization. In this work, a measurement-driven multi-layer DT framework is proposed for THz wireless data centers, where the physical, channel, evaluation, and manipulation layers are progressively constructed from bottom to top. First, extensive channel measurements are conducted at 140, 220, and 300 GHz to characterize frequency-dependent propagation behaviors. Based on the tri-band measurements, a measurement-calibrated physical twin is established by jointly optimizing the geometry, material, antenna, and hybrid propagation models. On top of the physical twin, a line-of-sight (LoS)-aware implicit neural field is developed to construct an AI channel twin for efficient channel reconstruction. The proposed AI twin learns location-dependent channel statistics from the calibrated twin, enabling real-time prediction of received power and LoS probability. Building upon the reconstructed channel field, a system-level evaluation layer is derived to analyze coverage and interference for both AP-to-rack and rack-to-rack communications. Experimental results show that the proposed AI twin achieves lower power reconstruction error than existing neural-field baselines while maintaining real-time inference capability. Moreover, the ceiling-mounted AP deployment achieves over 90% coverage under a 10 dB signal-to-interference-plus-noise ratio (SINR) threshold, demonstrating the effectiveness of the proposed DT framework for THz wireless data-center planning and optimization.

Mingjie Zhu, Ziming Yu, Guangjian Wang +1

Terahertz Wireless Communications (TWC) Interdisciplinary Research Center, Shanghai Jiao Tong University, Shanghai 200240, China · Huawei Technologies Company Ltd., Chengdu 611731, China · Terahertz Wireless Communications (TWC) Interdisciplinary Research Center, and Cooperative Medianet Innovation Center (CMIC), School of Information Science and Electronic Engineering, Shanghai Jiao Tong University, Shanghai 200240, China

Wireless Communications Radio Propagation Modeling Digital Twins

Aug 31, 2026

Contrast-Free Autonomous Navigation of Untethered Endovascular Microrobots Using Single-Plane Fluoroscopy

Reliable three-dimensional (3D) navigation of magnetically actuated untethered microrobots remains a major barrier to clinical translation. X-ray fluoroscopy is the standard real-time imaging modality for endovascular procedures, but single-plane fluoroscopy provides only a two-dimensional (2D) projection, eliminating depth information and complicating autonomous navigation. Recovering this information through biplane imaging or repeated contrast-enhanced angiography increases procedural complexity, radiation exposure, or contrast burden. Here, we introduce VISTA (Virtual Integration for Spatial Tracking and Autonomy), a digital twin framework enabling contrast-free autonomous navigation under single-plane fluoroscopy. VISTA reconstructs vascular anatomy as a 3D digital twin, discretizes the vessel centerline into navigation milestones, and assigns the detected 2D robot position to the nearest projected milestone. Consecutive milestones define the local vessel orientation used to generate magnetic actuation commands, converting single-plane fluoroscopic observations into topology-constrained navigation states without requiring contrast injection during navigation. VISTA is demonstrated across anatomically distinct vascular phantoms under continuous flow and within the inferior vena cava of a live rat in vivo. Compared with conventional fluoroscopic human-in-the-loop control, VISTA reduced navigation time by up to 62%, corrective actuation commands by up to 98%, and radiation exposure by up to 57%. These results establish VISTA as a digital twin-guided framework for contrast-free autonomous navigation of untethered endovascular microrobots using widely available single-plane fluoroscopy.

Husnu Halid Alabay, Tuan-Anh Le, Ping Wang +1

Department of Physiology and Biomedical Engineering, Mayo Clinic, Scottsdale, Arizona, USA · School of Biological and Health Systems Engineering, Arizona State University, Tempe, AZ, USA

Robotic Endovascular Intervention Digital Twins Vision-Based Robot Control

Aug 31, 2026

The PUR-1 Cyber-Physical Digital Twin

Digital twin technologies have the potential to improve operational flexibility and responsiveness capabilities of nuclear systems. To provide decision support, cyber event characterization, state estimation, predictive control, and real-time dynamic processing of operational data, however, an efficient digital twin needs to integrate multiple models (data-driven as well as physics-based) with explainability while at the same time maintain two-way synchronization with the physical facility at a time constant less than its operational cycle. In this work, we present the Purdue University Reactor One Digital Twin (PUR-1 DT), a cyber-physical digital twin with a complete high-fidelity physics-based and AI-driven virtual model stack (neutronics, thermal-hydraulics, point kinetics) which provides closed-loop explainable diagnostics, forecasting, predictive control, and action recommendation back to the reactor via two-way communications and a cyber-physical testbed. We demonstrate real-time synchronized state estimation and short-term forecasting over a full reactor operational cycle and conduct a series of benchmarking experiments to validate accuracy and latency. Our results show good agreement with experimental results and lay the groundwork for further development and experimental demonstration of DT-enabled functionalities in real-world facilities.

Vasileios Theos, Jonah Lau, Konstantinos Gkouliaras +7

School of Nuclear Engineering, Purdue University, West Lafayette, IN 47907

Cyber-Physical Systems Digital Twins Physics-Based Simulation

Aug 30, 2026

Spec2Twin-Chain: Orchestrating Bi-Level Optimization with LLMs for Blockchain Digital Twin Construction

Building a blockchain digital twin largely requires translating domain knowledge and specific system descriptions into a simulator architecture, calibrating its parameters against behavioral evidence, and validating the constructed twin. These steps are commonly performed through application-specific modeling efforts that can be difficult to reuse across systems and downstream decision problems. We consider automating this process through Spec2Twin-Chain, a framework that formulates blockchain digital-twin construction as a bi-level optimization problem. At the upper level, a large language model proposes and revises structurally admissible architectures using system specifications, behavioral evidence, and feedback from evaluated designs. At the lower level, a simulation-based optimizer calibrates the architecture-conditioned parameters under explicit objectives and guardrail constraints. The two levels iterate. The evaluated candidates at lower levels are retained in a global archive and used to guide subsequent proposals at upper levels. We conduct controlled experiments involving twin calibration, feedback-driven recovery, stress analysis, downstream policy optimization, and policy updating. The results demonstrate that the framework can construct behaviorally accurate twins, improve initial designs through iterative feedback, and reuse calibrated twins to support downstream decisions.

Haoting Zhang, Haoxian Chen, Jiayuan Sheng +4

Haoting Zhang, Jiayuan Sheng, Haoxian Chen, Donglin Zhan, Zeyu Zheng, David D. Yao, and Wenpin Tang

Large Language Model-Guided Optimization Digital Twins

Aug 29, 2026

Toward Trustworthy Robot-Assisted Sliding Palpation for Shallow Vessel Localisation with a Calibrated Digital Twin

Reliable localisation of shallow subsurface vessels is important for safe robot-assisted venous access and vessel-aware manipulation, but collecting diverse tactile data on physical hardware is costly, time-consuming, and can degrade soft vision-based tactile sensors. We present a robot-assisted sliding-palpation framework in which a calibrated digital twin generates labelled tactile sequences, reducing reliance on real-world data. The twin models sensor-vessel contact, is calibrated against real palpation trajectories using Bayesian-optimisation-based domain adaptation, and is randomised over sliding direction and contact conditions. A spatio-temporal graph neural network trained on simulated marker trajectories performs per-node vessel classification and produces a human-verifiable top-view localisation map through 2D-to-3D-to-2D geometric projection. We evaluate three datasets: Sim, Silicone, and Meat, the latter a raw-meat phantom with vessel models at nominal depths of 0 to 30 mm, using four train-to-test configurations: Sim to Sim, Sim to Silicone, Sim to Meat, and Meat to Silicone. The calibrated twin achieves a simulated-to-real marker-alignment mean absolute error of 0.50 mm at deepest contact across four canonical interactions. After reprojection onto a 1 mm top-view grid, predicted vessel pixels lie on average 1.05 to 5.49 mm from the nearest true vessel pixel across the four models, with 1.05 to 1.31 mm for all except Sim to Meat. The larger error for Sim to Meat reflects the greater domain shift and current limit of simulation transfer. These results demonstrate progress toward trustworthy tactile palpation through calibrated simulation, interpretable localisation, and transparent cross-domain evaluation. Code, model weights, and data are publicly available on GitHub and Zenodo.

Piotr Blaszyk, Wen Fan, Kaizhong Deng +2

Imperial College London, UK

Sim-to-Real Transfer Digital Twins Vision-Based Tactile Sensing Domain Adaptation

Aug 28, 2026

LUCID: An Agentic AI Framework on Digital-Twin in the Loop for QoS-Guaranteeing Robotic Control

Cloud robotics relies on the timely uplink of high-volume sensing streams, yet dynamic environments continually shift the feasible combinations of trajectories, active-robot count, and per-robot QoS. Because existing approaches formulate trajectory planning (TP) and radio resource management (RRM) as a single fixed optimization problem, they cannot reconfigure these coupled decisions as conditions evolve, resulting in transient QoS violations. However, evolving operator intents change which quantities-such as the active-robot count and per-robot QoS-are fixed, optimized, or relaxed. Furthermore, the computational cost of evaluating trajectory-dependent wireless conflicts has made it difficult to build large-scale Digital-Twin-in-the-Loop (DITL) testbeds responsive enough for such dynamic orchestration. We present LUCID, an LLM-agent--orchestrated, uplink-aware cloud-robotics pipeline that moves TP--RRM from solving a fixed formulation to dynamically orchestrating optimization problem schemas within a DITL environment. Driven by the operator's high-level intent, LUCID treats the TP--RRM formulation as a bounded template whose variables, objectives, and constraints are dynamically configured, while SimBridge enables repeated ray-tracing evaluation by converting large-scale robotics scenes into wireless-ready DTs. By integrating collision-free path planning with a spectral-radius RRM validator, LUCID identifies wireless bottlenecks and restructures the problem schema on the fly to efficiently find the verified feasible state. Experiments confirm that LUCID robustly adapts to changing intents, active-robot counts, and scenes, while a multimodal surrogate model, FastConfigNet, reduces planning latency.

Hyeonsu Lyu, Minwoo Kim, Sehyun Ryu +1

Department of Electrical and Computer Engineering and the Institute of New Media and Communications, Seoul National University, Seoul, Republic of Korea · Pohang University of Science and Technology (POSTECH), Pohang, Republic of Korea

Robotics Robotic Control Digital Twins Multi-Robot Motion Planning Large Language Model-Based Robot Planning

Aug 20, 2026

ExploraTwin, a Non-Profit Research Platform for Digital Twin Simulations

Digital twin simulations show promise, but current empirical evidence suggests that the approach should be tested before being deployed in any particular context. To lower the friction for researchers and practitioners to test and deploy digital twin simulations, this brief commentary introduces ExploraTwin (https://exploratwin.org), an open-access, non-profit research platform for digital twin survey simulations. ExploraTwin supports two modes. In survey mode, researchers can upload a Qualtrics survey file or create a survey within the platform; select an available sample of digital twins; configure and run the simulation, and export analysis-ready data. In panel mode, researchers can assemble a small group of twins for open-ended conversations, document annotation, and moderated, focus-group-style voice discussions. We also developed CroissantTwin, a standardized data format for adding samples of digital twins to the platform. We demonstrate the survey mode workflow by using the platform to replicate 19 experiments on digital twins from the Twin-2K-500 dataset. ExploraTwin's survey execution fidelity is high: 99.6% of 197,000 answer units returned a structurally valid response on the first run.

Naveen Venkat, Yuchen Qiu, Tianyi Peng +2

Columbia University · Columbia Business School

Digital Twins User Simulation

Aug 19, 2026

Building real-time digital twin instances with Function+Data Flow: user evaluation and extension for iterative pipelines

Digital twins (DTs) increasingly leverage artificial intelligence (AI) and machine learning (ML) pipelines, both to build real-time DTs from high-fidelity simulations and to instantiate them with historical data. However, engineering these pipelines remains largely ad-hoc: pipelines are hard to specify, validate, and reuse, with scarce dedicated tooling. Function+Data Flow (FDF) addresses this by defining a visual domain-specific language (DSL) that represents functions (ML models) explicitly, enabling their composition and reuse. We implemented FDF in DesCartes Builder, an integrated modeling environment supporting FDF-based DT synthesis and validation. In this paper, we report on an empirical user study evaluating whether FDF and DesCartes Builder can make AI-based DT development more accessible and reliable. Participants implemented a representative real-time DT prototype within DesCartes Builder, and we measured perceived usability and feature adequacy through quantitative and qualitative measures. Our results indicate that DesCartes Builder and FDF achieve a good level of usability across a broad range of potential users, and particularly for the intended audience of domain experts. The study additionally surfaces concrete strengths and areas for improvement of both the tool and the underlying FDF framework. Informed by these findings, we propose H-FDF, a Hierarchical extension of FDF supporting iterative and modular pipelines, enabling the formal specification of more complex DT pipelines such as dual training. Our findings suggest that integrated, model-driven platforms are a promising direction to transform AI-based DT engineering into a disciplined modeling practice.

Eduardo de Conto, Blaise Genest, Arvind Easwaran +2

College of Computing and Data Science, Nanyang Technological University, 50 Nanyang Avenue, Singapore, 639798, Singapore. · CNRS, IPAL Lab, France.

Model-Driven Engineering Digital Twins Software Engineering

Aug 17, 2026

Digital Twin-Based Intrusion Detection for Vehicle Powertrain CAN Bus Systems

Existing automotive intrusion detection systems (IDSs) for the Controller Area Network (CAN) largely target discrepancies in message timing, frequency, or sequencing and cannot detect attacks that preserve these properties while manipulating the payload. Digital twins (DTs) have been used to emulate CAN traffic and generate attack scenarios for IDS evaluation, but their use for intrusion detection remains unexplored. This study develops a DT-based IDS that jointly models physical relationships among decoded powertrain signals and identifies attacks through residuals between predicted and observed behavior. A shared-encoder LSTM DT was trained on 17 decoded signals from a real Hyundai/Kia CAN log to jointly predict seven numeric and two categorical gear signals over a 24-step window. A timestep is flagged when a residual exceeds a calibrated threshold, while adaptive rollout protects the twin's input history from sustained contamination. Four attacks (plateau, continuous drift, masquerade, and gear masquerade) were evaluated against the twin and a range-and-plausibility baseline. The DT outperformed the baseline across all attacks, achieving detection rates of 94.6% for continuous drift and 89.2% for masquerade, while the baseline detected almost none of the fabricated payload attacks. These results demonstrate that learning coupled vehicle dynamics enables detection of stealthy payload manipulations that preserve normal CAN communication patterns. False positive rates reached 39.6%, highlighting the need for improved robustness under sustained attacks. The DT-based IDS shows promise for detecting stealthy payload-level CAN attacks that preserve normal communication patterns, supporting behavior-based cybersecurity for connected and automated vehicles.

Araf Rahman, M Sabbir Salek, Mashrur Chowdhury

Glenn Department of Civil Engineering Clemson University, Clemson, South Carolina, 29634

Network Intrusion Detection Cybersecurity Time-Series Anomaly Detection Digital Twins

Aug 17, 2026

Digital Twin Degradation: Detecting Cyber Physical Attacks via Temporal Inconsistencies

Digital Twins (DTs) are increasingly used to monitor and analyze Cyber Physical Systems (CPS). However, in adversarial environments, the fidelity of a DT cannot be assumed. Communication delays, data manipulation, sensor degradation, or partial information loss may cause the DT state to diverge from the physical process it represents. Such divergence creates temporal inconsistencies that may reveal cyber physical attacks. This paper proposes a detection framework that monitors temporal consistency between the physical system and a potentially degraded DT view. A DT predictor is trained exclusively on normal system behavior to model short-term system dynamics. During operation, discrepancies between predicted and observed states are transformed into multi-horizon temporal features capturing the magnitude, persistence, and evolution of prediction residuals. An unsupervised density model characterizes normal consistency patterns, while a sequential change detection mechanism identifies sustained deviations indicative of attacks. The approach is evaluated on three widely used Industrial Control System (ICS) datasets, SWaT, HAI, and BATADAL, under multiple DT degradation scenarios, including time desynchronization and partial observability loss. Results show that temporal inconsistency patterns enable reliable event-level attack detection with bounded false alarm rates and low detection latency. The proposed method achieves up to 98% detection reliability on SWaT and false alarm rates below 2%. Unlike conventional anomaly detection methods, the proposed framework does not require attack signatures or labeled attack data and remains effective even when the DT view is degraded. These results suggest that DT degradation, often treated as a limitation, can instead serve as a useful signal for cyber physical security monitoring.

Konstantinos E. Kampourakis, Vasileios Gkioulos, Sokratis Katsikas

Norwegian University of Science and Technology (NTNU), 2802 Gjøvik, Norway

CPS Security Cybersecurity Digital Twins Industrial Anomaly Detection Time-Series Anomaly Detection Change-Point Detection

Aug 15, 2026

A Physiology-Informed Digital Twin Framework for Simulating Liver Health Progression

We present a physiology-informed digital twin of the human liver designed for longitudinal simulation of liver function and early-stage disease progression. The model, referred to as HEPATWIN, integrates key hepatic processes, including carbohydrate, lipid, and protein metabolism, bilirubin conjugation, bile production, and detoxification, within a unified systems-level framework to generate clinically observable biomarker trajectories. Unlike purely data-driven approaches, HEPATWIN incorporates mechanistic representations of liver physiology and patient-specific inputs such as diet, activity, and baseline biomarkers to simulate disease evolution over time. To ensure consistency with clinical progression patterns, we introduce a stage-transition-driven calibration mechanism that aligns simulated outputs with population-level biomarker distributions across disease stages, including NAFLD, fibrosis, and cirrhosis. Validation using the NIDDK NAFLD dataset demonstrates that HEPATWIN produces longitudinal biomarker estimates within clinically acceptable ranges and can forecast trajectories over multi-year horizons. Furthermore, simulated biomarkers retain sufficient clinical signal to support downstream NASH detection with competitive performance relative to models using ground-truth laboratory data. These results highlight the potential of physiology-informed digital twins for personalized, non-invasive diagnosis and prediction of organ health in general and liver health monitoring in particular.

Sumaiya Afroz Mila, Sandip Ray

Department of Electrical and Computer Engineering, University of Florida, Gainesville, FL 32611 USA

Digital Twins Clinical Outcome Prediction

Aug 14, 2026

Twin: Playing an Unknown Game with a Test-Time Digital Twin

We present a Test-time World-model Inference (Twin) system, in which a frontier coding agent writes an executable world model for completing continual learning tasks, such as ARC-AGI-3 games. Traditional approaches hand-engineer such models, one custom design per task. Each game hides its rules and goal, and our system constructs them from simulation and interaction alone. Its inductive prior over grid games is strong enough to recover the true transitions of the game and the goal on nearly all levels. Replay validation happens in a twin world model. The harness enforces that an action is not made until the program reproduces every previous observed game transition. Each mismatch between a world model prediction and the actual action result becomes a counterexample that is used to repair the world model. Twin clears 179 out of 183 levels (97.8%), and does so more efficiently than humans in 158 out of 179 levels (88.3%). The system infers the goal before any reward on 156 of the levels it clears (87.2%), and in the remaining levels automatically discovers the goal by search. The benchmark scores completion and action efficiency, between 0 and 100, against humans playing each game for the first time. Played directly, the base model scores only 7.8%; an off-the-shelf harness increases it to 61.1%, whereas our twin world model increases the same base model to 93.3%, clearing 23 out of 25 games. Building a usable world model is simpler than anticipated, whereas the harder problem is inferring the right goal.

Alexy Skoutnev, Kirill Acharya, Gaston Longhitano +3

Yeshiva University · Stanford University · University of Southern California +1

Game-Playing Agents Code World Models World Model Learning ARC-AGI Digital Twins

Aug 12, 2026

Operational digital twin clinics enable task-based evaluation of embodied AI

Embodied artificial intelligence (AI) must be tested in the clinical environments where it will operate, but building realistic, robot-testable settings is costly and difficult to scale. Here we show that routine clinic images can be transformed into operational digital twins for task-based evaluation of embodied AI. Using 39 ophthalmic clinic scenes, we converted single photographs into editable, simulator-ready environments and assessed reconstruction quality, room-scale geometry, mesh grounding, multi-robot feasibility, perturbation sensitivity and closed-loop policy performance. The reconstructed scenes preserved workspace structure, while local editing enabled controlled device reconfiguration. Device meshes, collision proxies and semantic anchors converted visual reconstructions into contact-aware simulation scenes. Across three robot embodiments, shared task targets showed different patterns of reachability and contact feasibility. Small device translations and rotations produced task-specific changes in contact margins that were not captured by visual similarity alone. Digital-twin trajectories also supported local policy learning and closed-loop evaluation. These findings establish operational validity as a key principle for clinical digital twins and provide an intermediate layer between offline development and physical deployment of embodied AI in healthcare.

Xinyuan Wu, Jingrao Zhang, Mengdi Xu +3

School of Optometry, The Hong Kong Polytechnic University, Hong Kong SAR, China. · Faculty of Science and Technology, University of Macau, Macau, China. · Institute for Interdisciplinary Information Sciences, Tsinghua University, Beijing, China. +3

Digital Twins Embodied AI Robotics Simulation Robotics

Aug 12, 2026

AgenticTwin: An Agentic LLM Framework Integrated with Digital Twin for Anomaly Detection

Digital twins are increasingly used to monitor and simulate the behavior of cyber-physical systems. Even with skilled operators, interpreting anomalies detected within digital twin pipelines is challenging, as the sheer complexity and volume of raw sensor data make thorough analysis difficult. Recent advances in large language models (LLMs) offer promising capabilities for reasoning and explanation, yet their integration into digital twin-driven anomaly analysis remains underexplored. In this work, we propose AgenticTwin, an agentic framework that integrates LLM-driven reasoning with a digital twin-based anomaly detection pipeline. The framework grounds LLM-generated explanations in outputs from a digital twin-driven anomaly classifier and enables human operators to ask relevant natural-language questions about the system. Beyond the framework itself, we introduce a benchmark-oriented evaluation pipeline constructed over synthetic anomalies injected into a real-world weather sensor dataset, enabling controlled generation of operator queries over anomaly events. We further evaluate the feasibility of deploying lightweight, open-source LLMs for practical cyber-physical environments. Experimental results demonstrate that structured agent collaboration and knowledge-grounded reasoning improve diagnosis quality, contextual retrieval, and mitigation quality across diverse possible anomaly scenarios.

Touseef Hasan, Mounika Ghanta, Souvika Sarkar +1

School of Computing, Wichita State University, KS, USA · Department of Electrical and Computer Engineering, Auburn University, AL, USA

Cyber-Physical Systems Digital Twins Multi-Agent LLMs Anomaly Detection

Aug 12, 2026

Hierarchical Federated Transfer Learning in Digital Twin-Based Vehicular Networks

In recent research on the Digital Twin-based Vehicular Ad hoc Network(DT-VANET), Federated Learning (FL) has shown its ability to provide data privacy. However, Federated learning struggles to adequately train a global model when confronted with data heterogeneity and data sparsity among vehicles, which ensure suboptimal accuracy in making precise predictions for different vehicle types. To address these challenges, this paper combines Federated Transfer Learning (FTL) to conduct vehicle clustering related to types of vehicles and proposes a novel Hierarchical Federated Transfer Learning (HFTL). We construct a framework for DT-VANET, along with two algorithms designed for cloud server model updates and intra-cluster federated transfer learning, to improve the accuracy of the global model. In addition, we developed a data quality score-based mechanism to prevent the global model from being affected by malicious vehicles. Lastly, detailed experiments on real-world datasets are conducted, considering different performance metrics that verify the effectiveness and efficiency of our algorithm.

Qasim Zia, Saide Zhu, Haoxin Wang +2

Georgia State University, Atlanta, GA, 30303 · Penn State Berks, Reading, PA, 19610

Hierarchical Federated Learning Digital Twins Clustered Federated Learning Federated Learning Heterogeneous Federated Learning

Aug 11, 2026

Bridging the Data Gap: Digital Twin as a New Paradigm for AI-based Radio Sensing

We present a methodology that places a 3D digital twin (DT) of the environment as the main enabler behind the development of radio sensing at scale. The DT acts as a world model, providing geometry, materials, and transmitter/receiver placements to a ray-tracing engine that generates time-indexed channel impulse responses (CIRs) for large numbers of plausible scenes (moving people and objects, layout variants, seasonal/weather conditions, etc). From these synthetic sequences, we train a sequential neural network that maps CIR time series to spatial occupancy estimates, enabling device-free localization (DFL) without instrumented targets. We posit that sensing is best approached as an environment-conditioned learning problem: rather than seeking a single global model, we advocate training or fine-tuning local models specialized to a site-specific DT. As a first experiment, we introduce a novel State Space Model architecture, trained and evaluated across multiple room geometries. The localization performances obtained demonstrate the potential of the approach.

Éloi Sainte-Beuve, Guillaume Larue, Louis-Adrien Dufrène +2

Orange Research · IMT Atlantique · Orange Research, France +1

Aug 11, 2026

Link-adaptive digital twin for robust physical-layer modeling in hybrid-amplified ultra-wideband optical networks

Accurate physical-layer modeling is increasingly essential for reliable ultra-wideband operation and capacity optimization, especially under the intensified inter-channel stimulated Raman scattering (ISRS) effect. This paper proposes the link-adaptive digital twin (LA-DT) for hybrid-amplified ultra-wideband links to overcome the generalization and speed limitations of existing methods, achieving accurate modeling and robust generalized signal-to-noise ratio (GSNR) estimation across diverse links. First, to address EDFA heterogeneity, the GSNR modeling task is decomposed into three key power predictions: ASE, NLI, and signal powers before EDFA entry. Second, to enhance cross-scenario generalization, three dedicated DT models are developed using a novel neural architecture with linear modulation layers (LMLs). Third, for rapid adaptation to unseen scenarios with limited data, three domain discriminators guide few-shot fine-tuning of the LMLs. Fourth, the LA-DT explicitly accounts for Raman amplifier (RA) insertion loss, improving practical deployment reliability. Results across 35 scenarios show that LA-DT reduces RMSE for NLI, ASE, and signal power predictions to 0.151, 0.111, and 0.113 dBm with improvements of 56.0%, 58.4%, and 52.7% over the baseline,and achieves an average GSNR estimation RMSE of 0.114 dBm (55.8% improvement). For 12 unseen scenarios, the LA-DT maintains high accuracy through few-shot fine-tuning with only 20 samples per scenario, achieving an average GSNR RMSE of 0.159 dB and demonstrating strong adaptability and robustness.

Xiaoxuan Gao, Rentao Gu, Yingchun Wang +3

State Key Lab of Information Photonics and Optical Communications, Beijing University of Posts and Telecommunications, Beijing, 100876, China · China Mobile Group Design Institute Co., Ltd., Beijing, 100080, China

Neural Surrogate Modeling Few-Shot Domain Adaptation Digital Twins

Aug 9, 2026

Trajectory Design and Budgeted Querying for Digital Twin Calibration

Digital-twin calibration requires interaction data that is expensive to collect. We study two acquisition decisions: which trajectories to generate, and when to spend a limited budget on privileged parameter measurements. Our framework couples an excitation-oriented reinforcement learning controller, a recurrent parameter estimator with predictive uncertainty, and a budgeted query policy. In Pendulum, a Random Forest diagnostic recovers gravity only weakly from task-oriented trajectories and does not recover mass or length, while a GRU trained on excitation-oriented trajectories reaches a mean absolute error of 0.0066 with no queries. We then withdraw continuous oracle access partway through an episode, so that the twin must run on the estimator's output for the remainder. The estimator-plus-policy pipeline achieves a terminal error of 0.0092 under a three-query budget, against 0.2031 for an uncalibrated twin. In partially observable Waterworld, five controllers produce different observed error profiles across three hidden parameters, and an estimator trained on a five-controller mixture reaches online normalized errors of roughly 4-5%. These exploratory case studies are not controlled ablations, but they motivate treating trajectory design and query allocation as explicit design variables in data-scarce calibration.

Vladyslava Spitkovska, Dmytro Kuzmenko

Department of Mathematics, National University of Kyiv-Mohyla Academy, Kyiv, Ukraine · Department of Multimedia Systems, National University of Kyiv-Mohyla Academy, Kyiv, Ukraine · Department of Computer Science, University of Turin, Turin, Italy

Active Learning System Identification Digital Twins

Aug 6, 2026

From Passive Mirrors to Active Agents: Holonic Digital Twins for Physical AI over Networks

Despite advances in artificial intelligence (AI) across multiple sectors, today's AI tools, including deep learning and generative AI, still fail when embedded into physical systems, such as robots and vehicles operating under real-world physical laws. This stems from their inability to maintain reliable world models for long-horizon planning under uncertainty and generalize to unseen scenarios. In this context, wireless networks, through pervasive sensing and communication, can orchestrate physical intelligence. However, current architectures optimize throughput, latency, and reliability and cannot support real-time physical AI coordination, requiring agents to maintain shared spatiotemporal context. To address these challenges, a network of holonic digital twins (HDT-Nets) framework is proposed to deliver real-time physical AI inference through holonic agents that actively reason about their environment rather than passively mirror physical assets. Each HDT is realized as a hierarchical structure spanning the physical agent and network edge, reasoning autonomously at the local level while cooperating with neighboring HDTs to form collectively intelligent units. In HDT-Net, causal Markov blankets spanning sensing, communication, and control determine which agents must coordinate and enable counterfactual reasoning over multi-domain interventions. Active inference within these boundaries unifies perception, action, and learning by minimizing expected free energy while deciding which beliefs to transmit based on their cognitive value to the receiver. Category theory ensures that transmitted beliefs preserve semantic structure across heterogeneous agents with incompatible representations. Finally, integrated information theory quantifies when collective intelligence exceeds independent operation and how network intelligence evolves through coordinated learning and information exchange.

Christo Kurisummoottil Thomas, Omar Hashash, Walid Saad

Department of Electrical and Computer Engineering, Worcester Polytechnic Institute, Worcester, MA, USA · Bradley Department of Electrical and Computer Engineering, Virginia Tech, Alexandria, VA, USA

Multi-Agent Coordination Digital Twins

Aug 6, 2026

BendTwin: Robust Dense-to-Sparse Physical Reconstruction with Bending-Aware Differentiable Spring-Mass Models

Reconstructing objects with mechanical properties from video observations enables physically consistent dynamic prediction, benefiting robotics planning and interaction. Existing spring--mass based physical driven reconstruction approaches offer efficient and differentiable physical reconstruction, but they typically rely on axial springs alone. Such formulations oversimplify the underlying structural mechanics and can become mechanically under-constrained when the physical graph is coarsened, limiting their ability to preserve stable local deformation. We present BendTwin, a bending-aware differentiable spring--mass framework for video-based reconstruction and future prediction of deformable objects. BendTwin introduces bending stiffness and damping over local surface triplets, penalizing deviations from rest angles and regularizing higher-order deformation. These bending constraints improve mechanical stability while preserving the simplicity of spring--mass system. Experiments show that BendTwin consistently outperforms the axial-only PhysTwin baseline. Ablation studies further demonstrate that the bending constraints maintain system stability across different downsampling ratios and consistently improve upon the original PhysTwin formulation. Overall, BendTwin provides an effective approach for constructing mechanically faithful digital twins from sparse-view RGB-D videos.

Yixiong Jing, Qi Wang, Lin Chen +6

University of Cambridge · Institute of Automation, Chinese Academy of Sciences · Northwestern Polytechnical University +1

Structural Mechanics Sparse-View 3D Reconstruction Deformable Shape Reconstruction Differentiable Physics Digital Twins Physics-Based Simulation+1

Aug 4, 2026

Automatic Patient-Specific Microwave Ablation Planning Accelerated by a Physics-Guided Deep Learning Model

Microwave ablation (MWA) is a promising minimally invasive treatment for liver tumors, but its therapeutic outcome strongly depends on patient-specific planning of antenna insertion trajectory, power, and treatment duration. Accurate numerical simulation can provide physically reliable ablation predictions; however, its high computational cost limits its use in optimization-based planning, where repeated forward evaluations are required. To address this issue, we propose a digital twin-based automatic planning framework that combines a neural ablation prediction model with a genetic algorithm. The model was trained on multiphysics simulation data generated from patient-specific tumor and vessel structures, antenna configurations, and treatment conditions, and was used as a fast forward model during planning. The prediction model achieved a Dice score of 95.1%, enabling accurate deep learning-based optimization. In 13 unseen planning cases, the proposed method improved ablation efficiency by 54.3% and reduced organ damage by 55.0% compared with clinician-defined planning, while slightly shortening the insertion path length by 3.3%. Most generated plans were also judged clinically applicable by MWA specialists. Furthermore, the framework enabled approximately 420-fold faster planning than numerical-simulation-based planning, demonstrating its potential as a fast digital twin for quantitative and personalized MWA treatment planning. The code is available at: https://github.com/SeonAengCho/MWA-Planning.git

Seonaeng Cho, Minjee Seo, Minju Seol +3

School of Mathematics and Computing (Computational Science and Engineering), Yonsei University, Seoul, Republic of Korea · College of Medicine, Department of Radiology, Yonsei University, Seoul, Republic of Korea · Innovative & Intelligent Computational Science Institute (IN2CSI), Seoul, Republic of Korea

Neural Surrogate Modeling Model-Based Planning Digital Twins

Aug 3, 2026

Cardiovascular Digital Twins from Physics Based to Data Driven Approaches

Cardiovascular digital twins aim to create patient-specific computational models that evolve with clinical data to support diagnosis, prognosis, and therapy optimisation. Mechanistic models provide physiological interpretability but remain computationally demanding, whereas data-driven approaches improve scalability yet risk limited robustness. Emerging physics-informed, graph-based, and hybrid methods integrate physical constraints with relational learning across vascular networks. We review modelling paradigms, data assimilation frameworks, validation challenges, and translational pathways toward clinically deployable cardiovascular digital twins.

Emmanuel Lwele, Francis Chikweto

Materials and Engineering Research Institute, Sheffield Hallam University, Sheffield, United Kingdom. · Medical Engineering and Cardiology Department, Institute of Development, Aging and Cancer (IDAC), Tohoku University, Sendai, Japan.

Data Assimilation Physics-Informed ML Digital Twins

Aug 3, 2026

tFUSOperator: Operator Learning for Transcranial Focused Ultrasound Digital Twins

Transcranial focused ultrasound (tFUS) requires accurate estimation of the intracranial acoustic field, which is distorted by skull-induced aberrations. Numerical solvers are accurate but computationally expensive for digital twins, where the field must be re-estimated repeatedly as treatment conditions change. Existing deep-learning surrogates are fast but typically use voxel-to-voxel regression on a fixed grid, with no mechanism reflecting how acoustic energy propagates through the skull. We instead cast tFUS simulation as an operator learning problem and propose tFUSOperator, a coordinate-aware neural operator that maps the free-field pressure, skull anatomy, and treatment parameters to the intracranial field within a shared physical coordinate frame. To our knowledge, this is the first operator-based formulation of tFUS field prediction. On both seen and unseen skulls, the model localizes the acoustic focus accurately-reaching about 90% and 72% Dice, respectively-and it performs nearly as well from magnetic resonance (MR) as from computed tomography (CT) input while running

5.6 \times 10^4

times faster than numerical simulation. These results suggest a fast, radiation-free route to safe and practical digital twins for patient-specific tFUS treatment. The code is available at: https://github.com/CMME-Lab/tFUSOperator.git.

Minjee Seo, Haris Ghafoor, Minju Seol +2

School of Mathematics and Computing (Computational Science and Engineering), Yonsei University, Seoul, Republic of Korea · Innovative & Intelligent Computational Science Institute (IN2CSI), Seoul, Republic of Korea

PDE Operator Learning Digital Twins Neural Operators

Aug 3, 2026

When Measurement Conventions Masquerade as Calibration Gains in Cardiac Digital Twins

Cardiac digital twins convert clinical images into physiological measurements through observation operators, yet calibration studies often assume a fixed reference convention. Across four shared-backbone echocardiographic EF front-ends, phase conditioning appears to remove CAMUS baseline bias. Matched-reference analysis rejects this gain: singleplane ground-truth EF error is statistically indistinguishable across models, while single-plane ground-truth EF exceeds CAMUS biplane clinical EF by +6.30 points, explaining nearly all baseline bias. A prespecified EchoNet-Dynamic replication, with released data and our extractor aligned to the apical four-chamber plane, removes baseline overestimation and reverses the CAMUS ranking. We also quantify haemodynamic effects, conformal residual-width budgets, and EF-stratum changes, yielding a Convention-Aware EF Audit protocol that separates genuine observation operator calibration from measurement artefacts. GitHub: EjectionFraction-Bias-in-Cardiac-Digital-Twin.git

Dang P. M. Cao, Hieu Pham

College of Engineering and Computer Science, VinUniversity, Hanoi, Vietnam · VinUni-Illinois Smart Health Center, VinUniversity, Hanoi, Vietnam · Center for Innovations in Health Sciences, VinUniversity, Hanoi, Vietnam

Left Ventricular Ejection Fraction Estimation Echocardiography Model Calibration Digital Twins

Aug 2, 2026

Neuro-Symbolic Participation Governance for Verifiable AI Agents in Open Digital Twin Ecosystems

Autonomous AI agents, increasingly empowered by large language models, are becoming important components of human-machine systems for high-stakes decision support in digital twin ecosystems. However, existing multi-agent systems often lack robust verification for identity, capability, and policy compliance, especially in decentralized environments spanning multiple institutions. This paper proposes a neuro-symbolic decentralized governance framework for verifiable agents in collaborative digital twin environments. By representing agents through multi-layer semantic profiles, the framework bridges probabilistic neural reasoning with deterministic institutional governance, thereby supporting trustworthy human-AI collaboration and meaningful human oversight. Capabilities are grounded in formal domain ontologies to enable machine-interpretable, policy-aware, and context-sensitive participation. These credentials, issued by organizational authorities, are validated via blockchain-based smart contracts, ensuring auditable participation without exposing sensitive data. We demonstrate the framework using a decision-support prototype with clinic, digital twin, and wearable provider agents effectively prevents unauthorized interaction and enforces institutional policies with manageable overhead. Our findings suggest that neuro-symbolic decentralized governance provides a scalable and trustworthy pathway for safe human-machine collaboration across institutional boundaries.

Juan Li, Wei Cai, Yan Bai

Department of Computer Science at North Dakota State University, Fargo, ND, USA · School of Engineering and Technology, University of Washington, Tacoma, WA, 98402, USA

Multi-Agent Collaboration LLM Agent Verification AI Agent Governance Digital Twins Neuro-Symbolic AI