In this paper, we investigate the semantic-aware efficient sampling policy for remote state estimation in a digital twin (DT) empowered smart factory with multiple wireless sensing devices and an edge server. In this setting, wireless sensing devices must continuously sample the factory states and transmit semantic-aware sensing data to the server. Using the received sensing data, the server builds a realtime DT mapping remotely that analyzes and predicts the events in the factory. Since the DT requires continuous data transmission, maintaining the DT inevitably consumes significant amounts of limited wireless resources. To address this issue, we reduce the required amount of data transmission by making wireless devices only send the semantic-aware sensing data that indicates the occurrence of events, otherwise stay idle. In particular, we first invoke the age of incorrect information (AoII) to measure the semantic of the sensing data, which represents the freshness of the concerned events. Next, we formulate an optimization problem that minimizes the long-term AoII of remote state estimation through the devices deciding whether to sample the factory states at each time slot. To solve this problem, we first transform the original problem into a state-wise constrained Markov decision programming (CMDP) and then propose a soft actor-critic (SAC) based algorithm to learn a sampling policy to take sample actions within the sampling rate constraint, while considering packet error. Simulation results show that, the proposed algorithm can reduce the number of samples by up to 44% compared to the error-based sampling scheme, with the same estimation accuracy.