Demonstration of a Continuously Updated, Radio-Compatible Digital Twin for Robotic Integrated Sensing and Communications

摘要

Integrated sensing and communications (ISAC) is essential for future 6 G, bridging physical and digital worlds by enabling wireless systems to sense and respond to their environment. Digital twins (DTs) enhance ISAC by providing real-time, data-driven models for applications like localization and autonomous navigation. However, existing DT frameworks lack real-time modeling and multimodal sensing, limiting their use for high-resolution ISAC. This demo paper extends our recently proposed real-time DT framework for indoor ISACenabled robotics and introduces an LLM-driven speech interface for control and planning, a continuous 3D reconstruction scheme using RGB-D data, and a novel ray tracing approach for wireless channel modeling from point clouds. These innovations address key limitations, supporting advanced ISAC applications and immersive human-computer interaction.