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Anticipating what might happen as a result of an action is an essentialability humans have in order to perform tasks effectively. On the other hand,robots capabilities in this regard are quite lacking. While machine learning isused to increase the ability of prospection it is still limiting for novelsituations. A possibility to improve the prospection ability of robots isthrough simulation of imagined motions and the physical results of theseactions. Therefore, we present URoboSim, a robot simulator that allows robotsto perform tasks as mental simulation before performing this task in reality.We show the capabilities of URoboSim in form of mental simulations, generatingdata for machine learning and the usage as belief state for a real robot.

URoboSim -- An Episodic Simulation Framework for Prospective Reasoning in Robotic Agents