update README

README.md

@@ -14,6 +14,14 @@ tags:
 library_name: GRAIL
 ---
 
+## 📢 News
+
+- **[2026-07-15]** Released task-general tracking policy checkpoints trained on the released data. Follow the [tracking doc](https://nvlabs.github.io/GRAIL/tracking.html#tracking-released-data) to use them to track our released motion data.
+
+> [!WARNING]
+> `data/pickup_table` and `data/pickup_ground` were updated on 2026-07-14. If you downloaded it before then, please re-download it.
+
+
 # Dataset Overview
 
 | Tabletop Pickup | Ground Pickup |
@@ -83,6 +91,7 @@ nvidia/PhysicalAI-Robotics-Locomanipulation-GRAIL/
 │   ├── meta/<hoi_category>__<object>__<NNN>.pkl        # per-motion metadata (lengths, contact flags, source IDs)
 │   ├── object_usd/<hoi_category>__<object>__<NNN>.usd  # OpenUSD object asset
 │   │   └── textures/<basename>/                        # per-USD texture subdir, refs rewritten in the USD
+│   └── bps/<hoi_category>__<object>__<NNN>.npy         # BPS encoding of object 3D shape (only in pickup table/ground)
 └── checkpoint/
     ├── GEM-SMPL/                                       # SMPL-X human pose estimation weights (HMR2, ViTPose, VIMO, YOLO, HMR4D)
     ├── FoundationPose/weights/                         # object 6-DoF estimator (refiner + scorer)