We present spectra of charged hadrons from Au+Au and d+Au collisions at $\sqrt{s_{NN}}=200$ GeV measured with the BRAHMS experiment at RHIC. The spectra for different collision centralities are compared to spectra from ${\rm p}+\bar{{\rm p}}$ collisions at the same energy scaled by the number of binary collisions. The resulting ratios (nuclear modification factors) for central Au+Au collisions at $\eta=0$ and $\eta=2.2$ evidence a strong suppression in the high $p_{T}$ region ($>$2 GeV/c). In contrast, the d+Au nuclear modification factor (at $\eta=0$) exhibits an enhancement of the high $p_T$ yields. These measurements indicate a high energy loss of the high $p_T$ particles in the medium created in the central Au+Au collisions. The lack of suppression in d+Au collisions makes it unlikely that initial state effects can explain the suppression in the central Au+Au collisions.