eval-assets/README.md

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:

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 benchmark (MIT License), converted to USD for Isaac Sim by 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.