---
license: cc-by-4.0
---

# SuperMap: CMU Gates and Scafie annotations

Point clouds and pointwise semantic labels for the [SuperMap benchmark](https://arxiv.org/abs/2608.22896). Bounding-box ground truth and evaluation tools are not included.

## Files

| Archive | Sequences |
|---|---|
| `gates_0511.zip` | Static first loop, change loop 1, change loop 2 |
| `scafie_0815.zip` | Indoor/outdoor |

Extract the ZIPs to access each sequence's files:

- `point_cloud.txt`: one `X Y Z R G B` point per line.
- `point_cloud.zlib`: compressed labels, one unsigned byte per point in the same row order.
- `label_map.json`: class names and colors for that sequence.

`manifest.json` provides archive checksums and file lists.

## Load labels

```python
import zlib
from pathlib import Path

labels = zlib.decompress(Path("point_cloud.zlib").read_bytes())
# labels[i] corresponds to row i of point_cloud.txt (starting at 0).
```

The Gates archive also includes `scripts/visualize_worker_response.py` (requires NumPy). It writes a point-cloud PLY with label 0 in red and other points in white.

## Notes

- Preserve point order and use each sequence's own class map.
- Class mappings, the meaning of label `255`, coordinate units/frames, and the six changed object identities have not been verified for this release. No train/validation/test split is specified.
- In Scafie, one ladder/staircase and one fire extinguisher were labeled as TRASHCAN.

## Citation

Please cite the SuperMap paper:

```bibtex
@misc{zhao2026supermap,
  title={SuperMap: A Spatio-Temporal SLAM System for Visual-Language Navigation},
  author={Shibo Zhao and Guofei Chen and Honghao Zhu and Zhiheng Li and Changwei Yao and Nader Zantout and Seungchan Kim and Wenshan Wang and Ji Zhang and Sebastian Scherer},
  year={2026},
  eprint={2608.22896},
  archivePrefix={arXiv},
  primaryClass={cs.RO},
  doi={10.48550/arXiv.2608.22896},
  url={https://arxiv.org/abs/2608.22896}
}
```

## License

[CC BY 4.0](https://creativecommons.org/licenses/by/4.0/): reuse and modification, including commercial use, are permitted with attribution, a license link, and an indication of changes. See `LICENSE`.