This section will hopfully get expanded upon in the future. But basically, USD doesn't have a lot of facilities to do profiling right now.
The best you've got is UsdUtilsComputeUsdStageStats.
Apparently there's also a memory footprint tagging system but I couldn't get it to work and apparently it's not working currently. Source here
There's a brief section on enable debugging C++ project but again, it's pretty bare-minimum.