Physical AI Architecture Using Industrial Digital Twin

This paper analyzes the concepts and elements of Industrial Digital Twin (iDTw) and Physical AI, and proposes a Physical AI architecture that integrates both technologies. The Industrial Digital Twin System consists of a Physical Twin (PTw), an Industrial Digital Twin (iDTw), and a twinning interface, and predicts and controls physical systems through near real-time data and simulation. Physical AI behaves autonomously in the real world based on a World Model, a Vision-Language-Action (VLA) model, Edge AI, and Smart Joints. To reduce the Sim-to-Real gap between virtual and real environments, the concepts of augmented simulation and time fidelity are introduced. Through this, the paper suggests that the Industrial Digital Twin can evolve beyond simple monitoring into a real-time autonomous decision-making and control platform.