Robustness-Aware Physical AI for Multi-Functional Humanoid Robot Team Concurrency Control Under Imperfect Digital Twin Information

Abstract

Humanoid robots are emerging as flexible robotic resources for autonomous manufacturing systems, where different types of tasks must be assigned to suitable robots while shared production resources are coordinated effectively. However, realistic manufacturing environments involve dynamic task arrivals, event-driven priority changes, heterogeneous robot capabilities, and shared-resource contention. In addition, digital twin-based scheduling may rely on state information that is delayed or uncertain, which can reduce the reliability of scheduling decisions. To address this issue, this paper extends the previously proposed deep reinforcement learning-based concurrency control (DRLCC) framework for robustness-aware scheduling and shared-resource control of a multi-functional humanoid robot team. The extended framework integrates capability-aware task assignment, feasibility-based action masking, and priority ceiling protocol (PCP)-based shared-resource coordination under delayed and uncertain digital twin observations. The framework is evaluated in a humanoid-based autonomous manufacturing scenario using performance indicators including task completion, urgent-task delay, resource contention, humanoid utilization, and robustness degradation under imperfect state feedback. Compared with the greedy ceiling-based baseline, DRLCC reduces high-priority task delay by approximately 10.9%, priority inversions by 42.1%, average waiting time by 73.8%, average block count by 74.0%, and temporary infeasible events by 73.5%, while maintaining comparable humanoid utilization. The robustness analysis further shows that overall task-completion performance remains stable under imperfect digital twin feedback, although coordination-level metrics are more sensitive to observation uncertainty and delay. These results suggest that the extended DRLCC framework can support robustness-aware humanoid robot team scheduling in autonomous manufacturing environments where digital twin observations are delayed or uncertain.