Abstract: The present disclosure relates to a processing device for implementing a mixed reality system, the processing device comprising: one or more processing cores; and one or more instruction memories storing instructions that, when executed by the one or more processing cores, cause the one or more processing cores to: maintain a virtual world involving at least a first virtual replica corresponding to a first robot in the real world; generate one or more virtual events impacting the first virtual replica in the virtual world; generate a control signal (CTRL) for controlling the first robot in response to the one or more virtual events; and transmit the control signal (CTRL) to the first robot to modify the behavior of the first robot and provide a real world response to the one or more virtual events.