Virtual Commissioning Simulation as OpenAI Gym - A Reinforcement Learning Environment for Control Systems. - Florian Jaensch; Lars Klingel; Alexander Verl (AI4I, 2022)

Simulation-Based Predictive Real-Time Collision Avoidance for Automated Production Systems. - Lars Klingel; Alexander Heine; Steven Acher; Niklas Dausend; Alexander Verl (CASE, 2023)

Deep Learning-Based Instance Segmentation for Feature Extraction of Branched Deformable Linear Objects for Robotic Manipulation. - Manuel Zürn; Annika Kienzlen; Lars Klingel; Armin Lechler; Alexander Verl; Shiyi Ren; Weiliang Xu 001 (CASE, 2023)

Safeguarded Continuous Deployment of Control Containers through Real-Time Simulation. - Moritz Walker; Lars Klingel; Stefan Oechsle; Michael Neubauer 005; Armin Lechler; Alexander Verl (ETFA, 2023)

Online Simulation at Machine Level: A Systematic Review. - Darius Deubert; Lars Klingel; Andreas Selig (CoRR, 2024)

Real-time quality prediction and local adjustment of friction with digital twin in sheet metal forming. - Patrick Link; Lars Penter; Ulrike Rückert; Lars Klingel; Alexander Verl; Steffen Ihlenfeldt (Robotics Comput. Integr. Manuf., 2025)