Datasets:
File size: 2,117 Bytes
75c9d7a | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 | # SoftVTBench — Evaluation Assets (`eval-assets/`)
USD assets required to rebuild the simulation scene for **closed-loop evaluation**
in Isaac Sim. Training does not need this bundle — only evaluation does.
## Layout
```
eval-assets/
└── USD/
├── basket/basket.usd + textures/ # LIBERO scene objects (32 dirs)
├── kitchen_table/ plate/ microwave/ ...
├── pastry001/pastry001.usd + resource/ # SoftVTBench deformable assets (11 dirs)
├── pastry002/ ... pastry006/ pastry010/
├── pastry005_visual_distractor/ # spatial-soft distractor variant
└── stw_cube_hq/ stw_sphere_hq/ stw_cylinder_hq/
```
Every asset follows the `<name>/<name>.usd` convention that the evaluation
scripts resolve against.
## Usage
Point the evaluation scripts at this directory:
```bash
export SOFTVT_EVAL_USD_DIR=/path/to/eval-assets/USD
```
## Provenance & licensing
- **Scene objects** (`basket`, `kitchen_table`, `akita_black_bowl`, `ketchup`,
`milk`, `plate`, `microwave`, and the other rigid props) originate from the
[LIBERO](https://github.com/Lifelong-Robot-Learning/LIBERO) benchmark
(MIT License), converted to USD for Isaac Sim by
[Tabero](https://github.com/NathanWu7/Tabero) (Apache-2.0). They are
redistributed here unmodified, purely so that closed-loop evaluation is
reproducible without re-running the original conversion pipeline.
- **Deformable assets** (`pastry001`–`pastry011`, `stw_*_hq`,
`pastry005_visual_distractor`) are contributed by SoftVTBench and are released
under the same Apache-2.0 license as the main repository.
If you use these assets, please cite LIBERO and Tabero in addition to
SoftVTBench.
## Note on the `soft-assets/` folder
The separate `soft-assets/` folder in this dataset holds the *authoring-time*
copies of the deformable assets (named `model_pastryN.usd`). The copies here
under `eval-assets/USD/` are the *simulation-ready* variants (named
`pastryNNN.usd`) that the evaluation scene loader expects. They are not
interchangeable — use `eval-assets/USD/` for evaluation.
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