In this paper we describe the integration of a robot control platform (Player/Stage) and a real robot (Pioneer P3DX) with PELEA (Planning, Execution and LEarning Architecture). PELEA is a general-purpose planning architecture suitable for a wide range of real world applications, from robotics to emergency management. It allows planning engineers to generate planning applications since it integrates planning, execution, replanning, monitoring and learning capabilities. We also present a relational learning approach for automatically modeling robot-action execution durations, with the purpose of improving the planning process of PELEA by refining domain definitions.