OrchardBench: A Physically-Grounded, GPU-Parallel Apple-Orchard Simulation Benchmark for Agricultural Robotics
Robotic tree-fruit harvesting is a flagship problem for agricultural automation, but progress is bottlenecked by the cost and irreproducibility of field experiments: an orchard is available only weeks a year, every tree is different, and a control error can permanently damage the crop or the plant. The tree models used in graphics and agronomy are geometrically detailed but physically inert, while the GPU-parallel simulators used in robot learning contain no plausible trees. We present OrchardBench, a physically-grounded, GPU-parallel simulation of apple-orchard trees on the Newton engine. Each tree is grown by a stochastic L-system and instantiated as a fully articulated body: branches a...
| Authors | Humphrey Munn |
|---|---|
| Primary category | cs.RO |
| Published | 7 July 2026 |
| Last updated at source | 7 July 2026 |
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