{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,30]],"date-time":"2026-06-30T17:44:56Z","timestamp":1782841496420,"version":"3.54.5"},"reference-count":0,"publisher":"ECMS","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2026,6,23]]},"abstract":"<jats:p>This paper presents an adaptive simulation framework, implemented in NVIDIA Isaac Sim, for self-aware heterogeneous robotic systems. The proposed platform enables each robot to maintain an internal predictive model of its own embodiment and its interaction with the surrounding environment, while explicitly accounting for both mechanical actuation and onboard computational processes. By treating mechanical and computational energy as internal state variables, the framework enables runtime estimation of the energetic consequences of robot actions. This capability is demonstrated across diverse robot morphologies, including a mobile humanoid, a fixed-base manipulator, and an aerial robot operating in a shared warehouse environment. Experimental results show that internal computational processes constitute a substantial portion of the overall energy budget and are tightly coupled with mechanical action, highlighting the importance of incorporating internal resource state into self-regulatory decision-making. The framework provides a reusable platform for studying resource-aware self-regulation and energy-informed decision-making, with extensions toward multi-robot and swarm systems.<\/jats:p>","DOI":"10.7148\/2026-0404","type":"proceedings-article","created":{"date-parts":[[2026,6,30]],"date-time":"2026-06-30T16:55:14Z","timestamp":1782838514000},"page":"404-410","source":"Crossref","is-referenced-by-count":0,"title":["Adaptive simulation platform in nvidia isaac sim for self-aware heterogeneous robots"],"prefix":"10.7148","author":[{"given":"Afrooz","family":"Naseri","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Juha","family":"Plosila","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hashem","family":"Haghbayan","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"4144","published-online":{"date-parts":[[2026,6,23]]},"event":{"name":"40th ECMS International Conference on Modelling and Simulation"},"container-title":["ECMS 2026 Proceedings edited by Filippo Sanfilippo, Florenc Demrozi, Fabio Sgarbossa, Mohammad Poursina"],"original-title":[],"deposited":{"date-parts":[[2026,6,30]],"date-time":"2026-06-30T16:55:16Z","timestamp":1782838516000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.scs-europe.net\/dlib\/2026\/ecms2026acceptedpapers\/0404_simai_ecms2026_0069.pdf"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2026,6,23]]},"references-count":0,"URL":"https:\/\/doi.org\/10.7148\/2026-0404","relation":{},"subject":[],"published":{"date-parts":[[2026,6,23]]}}}