The Dept. of Automatics, Biocybernetics, and Robotics at Jožef Stefan Institute organized the 20th International Conference on Advanced Robotics (ICAR, https://icar-2021.org), which was held from December 7th to 10th. ICAR is one of the most established robotics conferences in the world. Its beginnings date back to 1983 and it had a significant impact on the development of robotics. With original contributions, new ideas and views, ICAR pushes the boundaries of robotics and sets new research areas in robotics science and technology. This year 171 scientific papers from all parts of the world and 3 plenary lectures were presented. Due to the infavourable epidemic situation the conference had to move on-line. Despite of this, all authors and many additional participants attended the conference.