arxivcs.ROcs.CV2026-07-07
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…