| # 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. |
|
|
