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Agri-Sim: Agricultural Simulation Platform for Embodied Intelligence Evaluation in Greenhouse Robotics

arXiv · AI, language, vision and robotics · article · Aug 29, 2026 · UTC

Agricultural-robot development requires simulation environments that can jointly support realistic scene construction, virtual sensing, autonomous navigation, motion planning, and manipulation-task execution. This paper presents Agri-Sim, a Unity and ROS2-based simulation platform for the closed-loop development and functional evaluation of agricultural robots. The platform contains a configurable tomato-greenhouse environment, a mobile dual-arm harvesting robot, virtual RGB-D, LiDAR, IMU, and joint sensors, and a bidirectional communication interface between Unity and ROS2. Unity is responsib

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