diff --git a/TestProjects/PerceptionURP/Packages/packages-lock.json b/TestProjects/PerceptionURP/Packages/packages-lock.json
index 8957ba5ac..5174496e5 100644
--- a/TestProjects/PerceptionURP/Packages/packages-lock.json
+++ b/TestProjects/PerceptionURP/Packages/packages-lock.json
@@ -1,7 +1,7 @@
 {
   "dependencies": {
     "com.unity.burst": {
-      "version": "1.4.6",
+      "version": "1.5.6",
       "depth": 1,
       "source": "registry",
       "dependencies": {
@@ -19,12 +19,12 @@
       "url": "https://packages.unity.com"
     },
     "com.unity.collections": {
-      "version": "0.9.0-preview.6",
+      "version": "1.1.0",
       "depth": 1,
       "source": "registry",
       "dependencies": {
-        "com.unity.test-framework.performance": "2.0.8-preview",
-        "com.unity.burst": "1.3.0-preview.12"
+        "com.unity.burst": "1.5.4",
+        "com.unity.test-framework": "1.1.29"
       },
       "url": "https://packages.unity.com"
     },
@@ -97,12 +97,10 @@
       "depth": 0,
       "source": "local",
       "dependencies": {
-        "com.unity.burst": "1.4.6",
-        "com.unity.collections": "0.9.0-preview.6",
+        "com.unity.burst": "1.5.6",
+        "com.unity.collections": "1.1.0",
         "com.unity.nuget.newtonsoft-json": "1.1.2",
-        "com.unity.render-pipelines.core": "7.1.6",
-        "com.unity.simulation.client": "0.0.10-preview.10",
-        "com.unity.simulation.core": "0.0.10-preview.25"
+        "com.unity.render-pipelines.core": "7.1.6"
       }
     },
     "com.unity.render-pipelines.core": {
@@ -153,13 +151,6 @@
       },
       "url": "https://packages.unity.com"
     },
-    "com.unity.simulation.client": {
-      "version": "0.0.10-preview.10",
-      "depth": 1,
-      "source": "registry",
-      "dependencies": {},
-      "url": "https://packages.unity.com"
-    },
     "com.unity.simulation.core": {
       "version": "0.0.10-preview.26",
       "depth": 0,
@@ -186,8 +177,8 @@
       "url": "https://packages.unity.com"
     },
     "com.unity.test-framework": {
-      "version": "1.1.27",
-      "depth": 0,
+      "version": "1.1.29",
+      "depth": 2,
       "source": "registry",
       "dependencies": {
         "com.unity.ext.nunit": "1.0.6",
@@ -197,12 +188,12 @@
       "url": "https://packages.unity.com"
     },
     "com.unity.test-framework.performance": {
-      "version": "2.0.8-preview",
-      "depth": 2,
+      "version": "2.8.0-preview",
+      "depth": 0,
       "source": "registry",
       "dependencies": {
         "com.unity.test-framework": "1.1.0",
-        "com.unity.nuget.newtonsoft-json": "2.0.0-preview"
+        "com.unity.modules.jsonserialize": "1.0.0"
       },
       "url": "https://packages.unity.com"
     },
diff --git a/TestProjects/PerceptionURP/ProjectSettings/ProjectVersion.txt b/TestProjects/PerceptionURP/ProjectSettings/ProjectVersion.txt
index 39e912552..e610e2826 100644
--- a/TestProjects/PerceptionURP/ProjectSettings/ProjectVersion.txt
+++ b/TestProjects/PerceptionURP/ProjectSettings/ProjectVersion.txt
@@ -1,2 +1,2 @@
-m_EditorVersion: 2020.3.19f1
-m_EditorVersionWithRevision: 2020.3.19f1 (68f137dc9bbe)
+m_EditorVersion: 2020.3.11f1
+m_EditorVersionWithRevision: 2020.3.11f1 (99c7afb366b3)
diff --git a/TestProjects/PerceptionURP/UserSettings/EditorUserSettings.asset b/TestProjects/PerceptionURP/UserSettings/EditorUserSettings.asset
index d865d5230..2d4d51d36 100644
--- a/TestProjects/PerceptionURP/UserSettings/EditorUserSettings.asset
+++ b/TestProjects/PerceptionURP/UserSettings/EditorUserSettings.asset
@@ -6,13 +6,13 @@ EditorUserSettings:
   serializedVersion: 4
   m_ConfigSettings:
     RecentlyUsedScenePath-0:
-      value: 22424703114646680e0b0227036c6c111b07142f1f2b233e2805183df1c43d2bf6e824fdee3531722c0ce6281d
+      value: 22424703114646680e0b0227036c6f1f05122b2b21382a35633c133af6f9
       flags: 0
     RecentlyUsedScenePath-1:
-      value: 22424703114646680e0b0227036c6f1f05122b2b21382a35633c133af6f9
+      value: 22424703114646680e0b0227036c6c111b07142f1f2b233e2867083debf42d
       flags: 0
     RecentlyUsedScenePath-2:
-      value: 22424703114646680e0b0227036c6c111b07142f1f2b233e2867083debf42d
+      value: 22424703114646680e0b0227036c6c111b07142f1f2b233e2805183df1c43d2bf6e824fdee3531722c0ce6281d
       flags: 0
     vcSharedLogLevel:
       value: 0d5e400f0650
diff --git a/com.unity.perception/Runtime/GroundTruth/Labelers/SemanticSegmentation/SemanticSegmentationLabeler.cs b/com.unity.perception/Runtime/GroundTruth/Labelers/SemanticSegmentation/SemanticSegmentationLabeler.cs
index 57c43b0bd..6e5afa6d3 100644
--- a/com.unity.perception/Runtime/GroundTruth/Labelers/SemanticSegmentation/SemanticSegmentationLabeler.cs
+++ b/com.unity.perception/Runtime/GroundTruth/Labelers/SemanticSegmentation/SemanticSegmentationLabeler.cs
@@ -227,7 +227,7 @@ protected override void OnEndRendering(ScriptableRenderContext scriptableRenderC
         /// <inheritdoc/>
         protected override void Cleanup()
         {
-
+            Debug.Log("Cleaning UP");
             if (m_TargetTextureOverride != null)
                 m_TargetTextureOverride.Release();
 
diff --git a/com.unity.perception/Runtime/GroundTruth/RenderTextureReader.cs b/com.unity.perception/Runtime/GroundTruth/RenderTextureReader.cs
index 2a83264e9..2ea271638 100644
--- a/com.unity.perception/Runtime/GroundTruth/RenderTextureReader.cs
+++ b/com.unity.perception/Runtime/GroundTruth/RenderTextureReader.cs
@@ -37,6 +37,11 @@ public static void Capture<T>(ScriptableRenderContext context, RenderTexture sou
             else
             {
                 var cpuTexture = GetTextureFromCache(sourceTex.width, sourceTex.height, sourceTex.graphicsFormat);
+                if (!cpuTexture)
+                {
+                    Debug.LogWarning("No texture from cache found!");
+                    return;
+                }
                 RenderTexture.active = sourceTex;
                 cpuTexture.ReadPixels(new Rect(0, 0, sourceTex.width, sourceTex.height), 0, 0);
                 cpuTexture.Apply();
@@ -73,7 +78,10 @@ static void OnGpuReadback<T>(AsyncGPUReadbackRequest request, int frameCount, Re
         static Texture2D GetTextureFromCache(int width, int height, GraphicsFormat graphicsFormat)
         {
             if (s_CachedCpuTextures.TryGetValue((width, height, graphicsFormat), out var texture))
-                return texture;
+            {
+                if (null != texture) return texture;
+                Debug.LogWarning("Found disposed or null texture in cache");
+            }
             var newTexture = new Texture2D(width, height, graphicsFormat, TextureCreationFlags.None);
             s_CachedCpuTextures[(width, height, graphicsFormat)] = newTexture;
             return newTexture;