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@@ -58,3 +58,50 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task10/scene.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task2/scene.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task4/scene.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task3/scene.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/scene.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task1/scene.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task8/scene.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task6/scene.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task4/SubUSDs/8.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task4/SubUSDs/0_1.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task4/SubUSDs/6.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task4/SubUSDs/2.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task4/SubUSDs/3.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task4/SubUSDs/1.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task4/SubUSDs/5.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task4/SubUSDs/model_42bfd814921da5caa11f98e41e207019_0.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task4/SubUSDs/0.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task4/SubUSDs/MVUHLWYKTKJ5EAABAAAAAAI8_usd_dinning_room_0.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task4/SubUSDs/6_1.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/4.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/8.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/model_d63f525c78a190e4f0c499fc8604cdbd_0.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/MVUHLWYKTKJ5EAABAAAAAEA8_usd_study_room_2.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_96.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/7.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_86.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/6.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_1.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/2.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_100.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/3.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_63.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_60.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_67.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/9.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_116.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_104.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_105.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_113.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/1.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/5.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/0.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_46.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_90.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_56.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene_usds/ebench/simple_pnp/task9/SubUSDs/instance_101.usd filter=lfs diff=lfs merge=lfs -text

assets/scene_usds/ebench/long_horizon/scene_fruit/SubUSDs/materials/MI_6576cd0911bd150001eb0eb0.mdl

@@ -0,0 +1,30 @@
+// auto generated by pbrjson2mdl
+// version = cc4b850
+mdl 1.6;
+
+import ::state::normal;
+import ::KooPbr::KooMtl;
+import ::anno::description;
+
+export material MI_6576cd0911bd150001eb0eb0(*)
+[[
+    anno::description("{\"status\":0,\"tag\":[0,28],\"version\":\"1.4.0\"}")
+]]
+ = KooPbr::KooMtl(
+    diffuse: color(0.7332999706f, 0.521600008f, 0.4471000135f),
+    reflect: color(0.07999999821f, 0.07999999821f, 0.07999999821f),
+    reflect_glossiness: 0.8000000119f,
+    fresnel: false,
+    fresnel_ior: 1.600000024f,
+    fresnel_ior_lock: true,
+    invert_reflection_ior: false,
+    reflection_metalness: 0.f,
+    refract_ior: 1.600000024f,
+    invert_refraction_ior: false,
+    self_illumination: color(0.f, 0.f, 0.f),
+    self_illumination_multiplier: 1.f,
+    anisotropy: 0.f,
+    anisotropy_rotation: 0.f,
+    texmap_bump: state::normal(),
+    opacity: 1.f,
+    thin_walled: false);

assets/scene_usds/ebench/long_horizon/scene_fruit/apple/backup/b0bedc070e1941f789294bd0fb4853f3/.collect.mapping.json

@@ -0,0 +1,23 @@
+{
+    "version": "1.0",
+    "file_records": [
+        {
+            "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/b0bedc070e1941f789294bd0fb4853f3/usd/b0bedc070e1941f789294bd0fb4853f3.usd",
+            "source_hash": "6b6546fe726a28ca7a40eea55f12019104da9e1b",
+            "target_url": "./b0bedc070e1941f789294bd0fb4853f3.usd",
+            "target_hash": "ce1b356f8a88ad7ffca127bfcca2209d61b3610a"
+        },
+        {
+            "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/b0bedc070e1941f789294bd0fb4853f3/usd/textures/b0bedc070e1941f789294bd0fb4853f3_texture0.png",
+            "source_hash": "e875c938be49187e785fea13fe9d95b18728f528",
+            "target_url": "./SubUSDs/textures/b0bedc070e1941f789294bd0fb4853f3_texture0.png",
+            "target_hash": "4a341254bdc2b41f492f68c6a26b15f722863d1d"
+        },
+        {
+            "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/b0bedc070e1941f789294bd0fb4853f3/usd/textures/b0bedc070e1941f789294bd0fb4853f3_texture1.png",
+            "source_hash": "757ee1f4f24772450bb8431c2f7a1ef3dfdcffa7",
+            "target_url": "./SubUSDs/textures/b0bedc070e1941f789294bd0fb4853f3_texture1.png",
+            "target_hash": "b7d39b4f098872938e79c7c6ce479ea4121b7ddd"
+        }
+    ]
+}

assets/scene_usds/ebench/long_horizon/scene_fruit/apple/backup/b0bedc070e1941f789294bd0fb4853f3/b0bedc070e1941f789294bd0fb4853f3_annotation.json

@@ -0,0 +1,18 @@
+{
+    "uid": "b0bedc070e1941f789294bd0fb4853f3",
+    "category": "apple",
+    "description": "Round, red apple with yellow stripes, small brown stem, smooth, shiny texture, symmetrical shape.",
+    "material": "skin, stem",
+    "dimensions": "0.1 * 0.1 * 0.1",
+    "mass": 0.2,
+    "placement": [
+        "OnFloor",
+        "OnObject",
+        "OnTable"
+    ],
+    "asset_type": "rigid",
+    "glb_size": 4.5,
+    "usd_size": 5.57,
+    "usd_material_softlink": false,
+    "source": "holodeck"
+}

assets/scene_usds/ebench/long_horizon/scene_fruit/apple/backup/dc5a0c0c439942d58d038a10d7064c91/.collect.mapping.json

@@ -0,0 +1,35 @@
+{
+    "version": "1.0",
+    "file_records": [
+        {
+            "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/dc5a0c0c439942d58d038a10d7064c91/usd/dc5a0c0c439942d58d038a10d7064c91.usd",
+            "source_hash": "56c368ac5ebf8f6ebb8bfe1f1857d7635a40b095",
+            "target_url": "./dc5a0c0c439942d58d038a10d7064c91.usd",
+            "target_hash": "1a9be947141559afe0cd96bde88e56db0dbc901b"
+        },
+        {
+            "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/dc5a0c0c439942d58d038a10d7064c91/usd/textures/dc5a0c0c439942d58d038a10d7064c91_texture0.png",
+            "source_hash": "e490dff955a903146926729a1df607f2037f8446",
+            "target_url": "./SubUSDs/textures/dc5a0c0c439942d58d038a10d7064c91_texture0.png",
+            "target_hash": "1c06f57e4abc3677a0ab2fac4105c3b2df4d7e6c"
+        },
+        {
+            "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/dc5a0c0c439942d58d038a10d7064c91/usd/textures/dc5a0c0c439942d58d038a10d7064c91_texture1.png",
+            "source_hash": "9e53ca4eb54754558b5d00ffacc4d965a3b19267",
+            "target_url": "./SubUSDs/textures/dc5a0c0c439942d58d038a10d7064c91_texture1.png",
+            "target_hash": "4f0d2c209c888a772afe21d13d2940fa6a1f0072"
+        },
+        {
+            "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/dc5a0c0c439942d58d038a10d7064c91/usd/textures/dc5a0c0c439942d58d038a10d7064c91_texture2.png",
+            "source_hash": "14b2accc6e343a7e903fcb7d9bd559d4d8c37f40",
+            "target_url": "./SubUSDs/textures/dc5a0c0c439942d58d038a10d7064c91_texture2.png",
+            "target_hash": "4a203268c58181a18c7efef7159115ac275771c2"
+        },
+        {
+            "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/dc5a0c0c439942d58d038a10d7064c91/usd/textures/dc5a0c0c439942d58d038a10d7064c91_texture3.png",
+            "source_hash": "504d42bb4aa680b0340a914989e5608c353d96e3",
+            "target_url": "./SubUSDs/textures/dc5a0c0c439942d58d038a10d7064c91_texture3.png",
+            "target_hash": "d4ac8e2e1508eb8fc444312ada4a3dd42fe1579c"
+        }
+    ]
+}

assets/scene_usds/ebench/long_horizon/scene_fruit/apple/backup/dc5a0c0c439942d58d038a10d7064c91/dc5a0c0c439942d58d038a10d7064c91_annotation.json

@@ -0,0 +1,18 @@
+{
+    "uid": "dc5a0c0c439942d58d038a10d7064c91",
+    "category": "apple",
+    "description": "Round, glossy red apple with yellow undertones, slight dimples, small speckles, and slender stem.",
+    "material": "red skin, yellow skin, stem",
+    "dimensions": "0.1 * 0.1 * 0.1",
+    "mass": 0.15,
+    "placement": [
+        "OnFloor",
+        "OnObject",
+        "OnTable"
+    ],
+    "asset_type": "rigid",
+    "glb_size": 2.54,
+    "usd_size": 3.02,
+    "usd_material_softlink": false,
+    "source": "holodeck"
+}

assets/scene_usds/ebench/long_horizon/scene_fruit/apple/backup/e1f96691aaf648b885d927f5c3f5be61/.collect.mapping.json

@@ -0,0 +1,35 @@
+{
+    "version": "1.0",
+    "file_records": [
+        {
+            "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/e1f96691aaf648b885d927f5c3f5be61/usd/e1f96691aaf648b885d927f5c3f5be61.usd",
+            "source_hash": "10f428f278e09525ee0e051ee2d61fd2327233d1",
+            "target_url": "./e1f96691aaf648b885d927f5c3f5be61.usd",
+            "target_hash": "601f199d5ae2f62223e74f8043e6e8df200816ac"
+        },
+        {
+            "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/e1f96691aaf648b885d927f5c3f5be61/usd/textures/e1f96691aaf648b885d927f5c3f5be61_texture0.png",
+            "source_hash": "6f5cba9f48ebfa65636e42cb8204381bb0dd1453",
+            "target_url": "./SubUSDs/textures/e1f96691aaf648b885d927f5c3f5be61_texture0.png",
+            "target_hash": "c1c79eb156c56c7e279d495268dfb6822108ec6a"
+        },
+        {
+            "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/e1f96691aaf648b885d927f5c3f5be61/usd/textures/e1f96691aaf648b885d927f5c3f5be61_texture1.png",
+            "source_hash": "fb96c8705e6db9de2ba27ed740554a598e850a03",
+            "target_url": "./SubUSDs/textures/e1f96691aaf648b885d927f5c3f5be61_texture1.png",
+            "target_hash": "954a45353f41eeddc000755a4116e676d743c092"
+        },
+        {
+            "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/e1f96691aaf648b885d927f5c3f5be61/usd/textures/e1f96691aaf648b885d927f5c3f5be61_texture2.png",
+            "source_hash": "7230d1ca0861e6aa26c584cbf1f20ca3096cd294",
+            "target_url": "./SubUSDs/textures/e1f96691aaf648b885d927f5c3f5be61_texture2.png",
+            "target_hash": "8c6fbb1c721ed60cc6faa88ad4c474e6abef0a2d"
+        },
+        {
+            "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/e1f96691aaf648b885d927f5c3f5be61/usd/textures/e1f96691aaf648b885d927f5c3f5be61_texture3.png",
+            "source_hash": "bca5d600e9beaa7ea5ce50d0d353b79619718417",
+            "target_url": "./SubUSDs/textures/e1f96691aaf648b885d927f5c3f5be61_texture3.png",
+            "target_hash": "578d2eafaffafd89547625844d390b3e92cbf827"
+        }
+    ]
+}

assets/scene_usds/ebench/long_horizon/scene_fruit/apple/backup/e1f96691aaf648b885d927f5c3f5be61/e1f96691aaf648b885d927f5c3f5be61_annotation.json

@@ -0,0 +1,18 @@
+{
+    "uid": "e1f96691aaf648b885d927f5c3f5be61",
+    "category": "apple",
+    "description": "Round, shiny, pinkish-red skin, smooth texture, slight curvature, stem, subtle color variations, engraved symbol.",
+    "material": "skin, flesh, stem",
+    "dimensions": "0.08 * 0.08 * 0.08",
+    "mass": 0.15,
+    "placement": [
+        "OnFloor",
+        "OnObject",
+        "OnTable"
+    ],
+    "asset_type": "rigid",
+    "glb_size": 1.66,
+    "usd_size": 2.05,
+    "usd_material_softlink": false,
+    "source": "holodeck"
+}

assets/scene_usds/ebench/long_horizon/scene_fruit/apple/eval/368e681cac614850b6b4a1887fc1bcce/.collect.mapping.json

@@ -0,0 +1,23 @@
+{
+    "version": "1.0",
+    "file_records": [
+        {
+            "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/368e681cac614850b6b4a1887fc1bcce/usd/368e681cac614850b6b4a1887fc1bcce.usd",
+            "source_hash": "693e55d4e57b92875d329478ae98e198590532ea",
+            "target_url": "./368e681cac614850b6b4a1887fc1bcce.usd",
+            "target_hash": "382213eee739ff4d4d40bce186f512301a41dbf8"
+        },
+        {
+            "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/368e681cac614850b6b4a1887fc1bcce/usd/textures/368e681cac614850b6b4a1887fc1bcce_texture0.png",
+            "source_hash": "6f021e03b90aeb07cd49406728bb4af5b16317e1",
+            "target_url": "./SubUSDs/textures/368e681cac614850b6b4a1887fc1bcce_texture0.png",
+            "target_hash": "98eefcaa2ac80075facf353506927262acf81379"
+        },
+        {
+            "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/368e681cac614850b6b4a1887fc1bcce/usd/textures/368e681cac614850b6b4a1887fc1bcce_texture1.png",
+            "source_hash": "6f23269c00edfbb47ed5c909909a838ea59453d5",
+            "target_url": "./SubUSDs/textures/368e681cac614850b6b4a1887fc1bcce_texture1.png",
+            "target_hash": "9c9296d30281f7c72362e501d511bcf16611b3b5"
+        }
+    ]
+}

assets/scene_usds/ebench/long_horizon/scene_fruit/apple/eval/368e681cac614850b6b4a1887fc1bcce/368e681cac614850b6b4a1887fc1bcce_annotation.json

@@ -0,0 +1,17 @@
+{
+    "uid": "368e681cac614850b6b4a1887fc1bcce",
+    "category": "apple",
+    "description": "Round, smooth-skinned fruit, red with yellow undertones, small top stem, slightly reflective surface.",
+    "material": "skin, flesh, stem",
+    "dimensions": "0.1 * 0.1 * 0.1",
+    "mass": 0.2,
+    "placement": [
+        "OnObject",
+        "OnTable"
+    ],
+    "asset_type": "rigid",
+    "glb_size": 49.38,
+    "usd_size": 53.63,
+    "usd_material_softlink": false,
+    "source": "holodeck"
+}

assets/scene_usds/ebench/long_horizon/scene_fruit/apple/eval/5948de6770a5491ea158cd9e921ebce9/.collect.mapping.json

@@ -0,0 +1,17 @@
+{
+    "version": "1.0",
+    "file_records": [
+        {
+            "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/5948de6770a5491ea158cd9e921ebce9/usd/5948de6770a5491ea158cd9e921ebce9.usd",
+            "source_hash": "8f8502b95f928330dff81af5cc344e4f80d4e6a8",
+            "target_url": "./5948de6770a5491ea158cd9e921ebce9.usd",
+            "target_hash": "39b2dd20e587863ea6ceb05bf8bf9b30ea1bcb77"
+        },
+        {
+            "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/5948de6770a5491ea158cd9e921ebce9/usd/textures/5948de6770a5491ea158cd9e921ebce9_texture0.png",
+            "source_hash": "1180ce69df17c82dde95de020be6568e543ab0e1",
+            "target_url": "./SubUSDs/textures/5948de6770a5491ea158cd9e921ebce9_texture0.png",
+            "target_hash": "00f88bf8c6ecb3f506653320739c1b93a0814c35"
+        }
+    ]
+}

assets/scene_usds/ebench/long_horizon/scene_fruit/apple/eval/5948de6770a5491ea158cd9e921ebce9/5948de6770a5491ea158cd9e921ebce9_annotation.json

@@ -0,0 +1,18 @@
+{
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