Robots have replaced labour in several sectors of the economy. In industrial manufacturing, digital twin systems allow to plan, schedule and optimize production by robots. In agriculture, robots have not yet reached widespread acceptance, in part because digital twin technology is rarely used. The aim of the ROBS4CROPS project is to accelerate the transition towards robotic agriculture by bringing knowledge and experience from the manufacturing domain to agriculture. The project envisions an agricultural robotic system that consists of autonomous vehicles and smart implements that are orchestrated by a Farming Controller. At the half-way mark of our 4-year project, we are able to present autonomous vehicles and smart vehicles working in four European countries, as well as an early implementation of the Farming Controller. Results so far indicate that the project's vision is achievable and that digital twin technology will be helpful in the acceptance of robots in agriculture.