So here is an update:
We’ve just released a new version of blendtorch with Blender 2.83 that runs at 60FPS (640x480xRGBA).

  
      
      GitHub
  
  
    

cheind/pytorch-blender 33

Seamless integration of Blender into PyTorch datasets. - cheind/pytorch-blender


  
  
    
    
  
  


Hope you find it useful.