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AgriGen: Large-Scale Scene Generation Framework for Photorealistic Agricultural Robotics Simulation

arXiv · AI, language, vision and robotics · article · Sep 22, 2026 · UTC

Agricultural robotics is advancing rapidly, yet progress remains constrained by limited field access, lack of control over field conditions, geographic variability, and seasonal crop cycles. These factors make it difficult and costly to acquire diverse agricultural datasets, resulting in limited evaluation and reduced system robustness. While other robotics domains have scaled learning and evaluation through high-fidelity simulation, agricultural robotics still lacks comparably capable tools. In this paper, we present a ROS-integrated framework, built on Isaac Sim, for large-scale procedural g

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