The Importance and the Limitations of Sim2Real for Robotic Manipulation in Precision Agriculture

Abstract

In recent years Sim2Real approaches have brought great results to robotics. Techniques such as model-based learning or domain randomization can help overcome the gap between simulation and reality, but in some situations simulation accuracy is still needed. An example is agricultural robotics, which needs detailed simulations, both in terms of dynamics and visuals. However, simulation software is still not capable of such quality and accuracy. Current Sim2Real techniques are helpful in mitigating the problem, but for these specific tasks they are not enough.