diff --git a/.gitattributes b/.gitattributes
index 810fda290539f4a1229ac7ebf4e997e3294f4ca2..cd18bbfa1f0916bab7bd217a6f1f203d27fa11ec 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -74,3 +74,9 @@ maps/oak_164424/full/splats.ply filter=lfs diff=lfs merge=lfs -text
 maps/oak_164424/splats.spz filter=lfs diff=lfs merge=lfs -text
 maps/oak_164424/splats_lite.spz filter=lfs diff=lfs merge=lfs -text
 maps/rosario_01/full/splats.ply filter=lfs diff=lfs merge=lfs -text
+maps/rosario_01/splats.spz filter=lfs diff=lfs merge=lfs -text
+maps/rosario_01/splats_lite.spz filter=lfs diff=lfs merge=lfs -text
+maps/rosario_03/full/splats.ply filter=lfs diff=lfs merge=lfs -text
+maps/rosario_03/splats.spz filter=lfs diff=lfs merge=lfs -text
+maps/rosario_03/splats_lite.spz filter=lfs diff=lfs merge=lfs -text
+maps/rosario_04/full/splats.ply filter=lfs diff=lfs merge=lfs -text
diff --git a/maps/rosario_01/keyframes.json b/maps/rosario_01/keyframes.json
new file mode 100644
index 0000000000000000000000000000000000000000..b06c7bcbf4e8c3745d51feea3e789b77fe32d850
--- /dev/null
+++ b/maps/rosario_01/keyframes.json
@@ -0,0 +1 @@
+{"row":"rosario_01","n":80,"image_size":[320,179],"K":[[167.1716,0.0,161.9923],[0.0,167.1716,95.7904],[0.0,0.0,1.0]],"camera":"rectified left camera (the splat's own camera model), downscaled x0.4762","pose":"T_map_cam: 4x4 camera-to-map (OpenCV camera axes), xclean P1's LIVE pose of the keyframe (published at that frame, never revised)","channels":"RGB","selection":"evenly spaced over the route's 1838 keyframes","files_relative_to":"","three_js_pose":"camera.matrixWorld = world.matrixWorld * T_map_cam * diag(1,-1,-1,1); vertical fov = 2 atan(h/2 / fy); principal point (cx, cy) via PerspectiveCamera.setViewOffset (see notes/SPARK_NOTES.md, Lab results)","held_out_rule":"held_out_of_map = never trained on by the splat map (every 10th segment 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+{"row":"rosario_01","tool":"build_lite_splats_v4.py (fork of website/tools/build_lite_splats.py)","built":"2026-10-30T18:28:27","source":{"file":"splats.ply","sha1":"f13460baf56889589037721bd6ceec155d858d07","bytes":207999697,"n_splats":1999991,"n_visible":1999991},"criterion":{"score":"footprint","n_target":600000,"min_alpha":0.00392156862745098,"rule":"top-N visible splats (alpha >= 1/255) by alpha x exp(s_mid+s_max) / max(d, 0.5 m)^2, d = distance to the nearest of our keyframe camera centres (opacity x the expected screen footprint in the views that made the map)","skip_rule":"no LITE file when the source has <= 1.3 x N splats (STANDARD is already small)"},"lite":{"url":"splats_lite.spz","format":"Niantic SPZ v3 (gzip), own encoder (build_map_assets.encode_spz_v3)","loader":"Spark 2.3.1 SplatMesh({url, extSplats:true})","n_splats":600000,"fraction_of_source":0.3,"fraction_of_visible":0.3,"bytes":12633848,"sha1":"ef9cfca2b052025ec06a0f2daea1199a85aaba81","fractional_bits":15,"position_step_m":3.0517578125e-05,"encode_s":4.31,"verify":{"max_position_error_m":1.52587890625e-05,"max_alpha_error":0.0019607833784585083,"count_ok":true},"kept_alpha_x_volume_min":6.984145694348847e-05,"kept_volume_m3_p50":4.769285673641895e-06,"bytes_per_splat":21.06},"seconds":5.35}
\ No newline at end of file
diff --git a/maps/rosario_01/splats_lite.spz b/maps/rosario_01/splats_lite.spz
new file mode 100644
index 0000000000000000000000000000000000000000..b74d5299885dd3d7e665a5cbe9e18c49bd1a5abc
--- /dev/null
+++ b/maps/rosario_01/splats_lite.spz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:021b65722e4d83e91f07525ffd8961bacf25d402b9b8cfad8b680235ca80308b
+size 12633848
diff --git a/maps/rosario_01/thumb.jpg b/maps/rosario_01/thumb.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..b53e2102c023d4cb8b47c0e94dddc02cd6e76b17
--- /dev/null
+++ b/maps/rosario_01/thumb.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cbfe7248ad65f6436d7745baedbb5996094e90f71e8af8a454b909d6c2f7ead
+size 31424
diff --git a/maps/rosario_01/traj.json b/maps/rosario_01/traj.json
new file mode 100644
index 0000000000000000000000000000000000000000..b58e0a9ee34481d967a13ffccbe9779c61b823b1
--- /dev/null
+++ b/maps/rosario_01/traj.json
@@ -0,0 +1 @@
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P1's odometry frame w = splats.ply / pointcloud.ply frame (T_world_cam0_rectified; OpenCV axes of the rectified left camera; w = the first body frame, not gravity-aligned)","gt":"the dataset's GT frame, positions of the LEFT CAMERA centre (GT pushed through T_body_cam0)"},"alignment":{"instrument":"compactslam.bench.score (the board's scorer): GT -> cam0, nearest-time association within 20 ms, position-only SE(3) Umeyama, no scale; each system aligned on its own full run","T_gt_from_map":[[0.005402518057798728,-0.999984865656858,-0.001039834539910318,-4.204242344112154],[-0.41252762853770036,-0.001281476126281373,-0.9109441879237161,-0.8149107847411301],[0.910929068858655,0.005350352901725467,-0.4125283084009274,-2.2196194733891916],[0.0,0.0,0.0,1.0]],"T_gt_from_orb3":[[-0.9990672646454227,0.04152945324419872,-0.011828154004382701,0.19281105500522733],[0.02498369697990787,0.3325159250515947,-0.9427666596100539,-2.4250944990752856],[-0.035219534340045086,-0.9421828188309954,-0.333243334967933,-0.2636351496636875],[0.0,0.0,0.0,1.0]]},"rounding":"positions 1 mm, t 0.1 ms, quaternions 1e-5 (x, y, z, w), err 0.1 mm","source":{"file":"trajectories.json","sha1":"6aaba338aebb8a08b02c9b176dec98d9d648327a"},"gravity":{"up_map":[0.945914731573557,0.0522015382131992,-0.3201879448078916],"source":"mean camera -y over the run (P1 did not admit the IMU: no gravity estimate)"},"gt":{"file":"gt.csv","decimation":"every 1-th row (<= 20 Hz)","n_full":2213,"n":2213},"orb3":{"system":"ORB-SLAM3 (local untuned draws of the board; offline, end-of-run)","draw":3,"file":"traj_3.csv.kf.csv","level":"kf","rule":"median full-run SE(3) KF ATE, lost draws excluded","n":458,"ate_se3_full_run_m":0.999935550398016,"n_assoc":84,"lost_final_atlas_gt1":true},"ours":{"system":"xclean P1 (frozen engine p13f4b, final board median run; live stream LIVE-ODOM)","draw":"board_rosario_01","file":"trajectory_kf.csv","level":"keyframes (P1's own keyframes; their LIVE poses, published at that frame, never revised)","n":1838,"ate_se3_full_run_m":2.2675852260011413,"n_assoc":358,"sim3_scale":1.0151521770463665},"err":{"method":"|ours.p_map - GT_map(t)| per keyframe, map frame; GT_map(t) = linear interpolation of trajectories.json gt.p_map (GT left-camera centre already mapped into our map frame with the scorer's full-run SE(3) alignment) between the bracketing GT samples; null where the bracket spans > 3 x the median GT step (0.6000 s) or the KF lies > 20 ms outside the GT span","gt_source":"trajectories.json gt (decimation: every 1-th row (<= 20 Hz); 2213 of 2213 rows of gt.csv)","rms_m":2.2860140014188532,"n":1832,"n_kf":1838,"median_gt_dt_s":0.19999999999998863,"ours_ate_se3_full_run_m":2.2675852260011413,"ours_n_assoc_scorer":358,"rms_minus_ate_m":0.01842877541771193,"note":"the scorer associates each KF with the nearest full-rate GT sample within 20 ms; this interpolates, so it can cover more KFs where the GT is sparser than the KFs (4Seasons, Rosario) and the RMS differs slightly","scorer_rule":{"rule":"nearest GT sample within 20 ms (the association of the board scorer), on the 1-mm rounded web positions","rms_m":2.254827438440214,"n":350,"gt_full_rate":true,"note":null},"orb3":{"rms_m":1.0062736621119928,"n":453,"n_kf":458,"scorer_rule_rms_m":1.0044161255409803,"scorer_rule_n":77,"orb3_ate_se3_full_run_m":0.999935550398016,"orb3_n_assoc_scorer":84,"method":"same as ours (interpolated GT_map); not stored per keyframe in this file"}},"t0_t1":"t0/t1 = the run on the replay clock: earliest / latest keyframe time of ours and ORB-SLAM3 (GT may extend beyond); written at 0.1 ms, rounded OUTWARD (t0 down, t1 up) so [t0, t1] contains every raw time","spans_s":{"ours":[0.0,444.87],"orb3":[0.0,222.144],"gt":[-0.107,444.883]},"segment_raw_s":[0.0,444.869999886]}}
\ No newline at end of file
diff --git a/maps/rosario_03/ATTRIBUTION.json b/maps/rosario_03/ATTRIBUTION.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b49424510c99900780ced5a80d3eeb5d3cd7b28
--- /dev/null
+++ b/maps/rosario_03/ATTRIBUTION.json
@@ -0,0 +1,9 @@
+{
+ "map": "rosario_03",
+ "source": "The Rosario Dataset (CIFASIS-CONICET), https://robot.cifasis-conicet.gov.ar/",
+ "source_licence": "CC BY 4.0 (\"All data in the Rosario Dataset is licensed under a Creative Commons 4.0 Attribution License (CC BY 4.0)\", official page checked 2026-10-30)",
+ "map_licence": "CC-BY-4.0",
+ "credit": "Source images: The Rosario Dataset, CIFASIS-CONICET, CC BY 4.0 (Pire et al., IJRR 2019). Changes: 3-D Gaussian-splat map reconstructed by Necessity Robotics (xclean) from the images and xclean's own live camera poses.",
+ "limitations": "Camera poses come from our live SLAM run (the median of three board runs), not from ground truth. The map's pose check found: at 1 place(s) the route passes twice, the two passes differ from the ground truth by up to 1.1 degrees in heading; passes are up to 0.18 m apart sideways. Some surfaces may look doubled or soft.",
+ "engine": "xclean (frozen engine p13f4b), final board median run; poses are the live SLAM output, not ground truth"
+}
\ No newline at end of file
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+++ b/maps/rosario_03/film/film.json
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+{"mp4":"film/film.mp4","webm":"film/film.webm","webm_codec":"av1 (libsvtav1)","poster":"film/film.jpg","poster_webp":"film/film.webp","width":1280,"height":716,"fps":30,"duration":12.0,"speed_factor":2.0,"platform":"ground robot","stretch":{"t0":36.5,"t1":60.5,"path_m":27.0,"mean_speed_mps":1.123,"n_kf":94},"photo_psnr_db":29.722,"photo_psnr_label":"mean render-vs-photo PSNR of the keyframes in the stretch (every_kf.json, training resolution): a quality indicator only","smoothing":{"rot_sigma_s":0.3,"pos_sigma_s":0.1},"label":"frozen engine p13f4b, final board median run","backdrop":{"type":"gradient","horizon_grey":0.8,"zenith_grey":0.62,"ramp":"linear in sin(elevation)","below_horizon_fade_deg":4.0,"clear_rgb":[0.01568627450980392,0.023529411764705882,0.0392156862745098],"rule":"X-32: a plain neutral brightness-by-elevation gradient behind the splats; NOT fitted to the scene; class-D provisional constants","disclosure":"sky not reconstructed; plain backdrop"},"renderer":"builder gsplat renderer (antialiased) from the exported splats.ply over the plain gradient backdrop (X-32); camera = xclean P1's LIVE per-frame poses, Gaussian low-pass, slerp; K = the keyframes' rectified K scaled to the frame","mp4_type":"video/mp4; codecs=\"avc1.640028\"","webm_type":"video/webm; codecs=\"av01.0.08M.08\"","frames_for_review":{"dir":"film_frames","n":360,"first_t":36.5,"last_t":60.43333333333334},"bytes":3202564,"webm_bytes":1437001,"poster_bytes":79818,"sha1":"f4ef2fb0b0e122975a84ee6c2f8b0da23fcde445","webm_sha1":"f78a8af5a3147970f632bde627fcda3f8cff19fd"}
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diff --git a/maps/rosario_03/full/splats.ply b/maps/rosario_03/full/splats.ply
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diff --git a/maps/rosario_03/keyframes.json b/maps/rosario_03/keyframes.json
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index 0000000000000000000000000000000000000000..f9e72ed31ae2314b8e6a481236922ab8263021d0
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+++ b/maps/rosario_03/keyframes.json
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+{"row":"rosario_03","n":80,"image_size":[320,179],"K":[[167.1716,0.0,161.9923],[0.0,167.1716,95.7904],[0.0,0.0,1.0]],"camera":"rectified left camera (the splat's own camera model), downscaled x0.4762","pose":"T_map_cam: 4x4 camera-to-map (OpenCV camera axes), xclean P1's LIVE pose of the keyframe (published at that frame, never revised)","channels":"RGB","selection":"evenly spaced over the route's 654 keyframes","files_relative_to":"","three_js_pose":"camera.matrixWorld = world.matrixWorld * T_map_cam * diag(1,-1,-1,1); vertical fov = 2 atan(h/2 / fy); principal point (cx, cy) via PerspectiveCamera.setViewOffset (see notes/SPARK_NOTES.md, Lab results)","held_out_rule":"held_out_of_map = never trained on by the splat map (every 10th segment 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P1's odometry frame w = splats.ply / pointcloud.ply frame (T_world_cam0_rectified; OpenCV axes of the rectified left camera; w = the first body frame, not gravity-aligned)","gt":"the dataset's GT frame, positions of the LEFT CAMERA centre (GT pushed through T_body_cam0)"},"alignment":{"instrument":"compactslam.bench.score (the board's scorer): GT -> cam0, nearest-time association within 20 ms, position-only SE(3) Umeyama, no scale; each system aligned on its own full run","T_gt_from_map":[[0.2361237947245518,0.05801015881559762,0.9699898839880069,1.85897884345232],[0.014397386328326623,-0.9983157506725293,0.05619944151019636,-1.249966005886894],[0.9716163177056008,0.0006952937035560723,-0.2365612980495228,0.17756162121870306],[0.0,0.0,0.0,1.0]],"T_gt_from_orb3":[[0.09947548446862393,-0.11786016375082191,0.9880352269986946,4.65287488418636],[-0.9595105663748814,-0.27433362404290895,0.06387907117701862,-0.5815693389985664],[0.26352248671543627,-0.9543846418085914,-0.14037754263128932,-0.04112494833179203],[0.0,0.0,0.0,1.0]]},"rounding":"positions 1 mm, t 0.1 ms, quaternions 1e-5 (x, y, z, w), err 0.1 mm","source":{"file":"trajectories.json","sha1":"80bbd928afa50cc41072b0a979701e5dcbabbcb1"},"gravity":{"up_map":[0.9684126697693899,-0.038000495559728106,-0.24644038501702142],"source":"accelerometer mean over the first 1.0 s (n 142, |a| 9.884 m/s^2, sd 0.301), rectified camera via R1 R_body_cam0^T, into w by the first pose; 8.29 deg from the first camera -y (P1 did not admit the IMU; CHANGES X-12)"},"gt":{"file":"gt.csv","decimation":"every 1-th row (<= 20 Hz)","n_full":1004,"n":1004},"orb3":{"system":"ORB-SLAM3 (local untuned draws of the board; offline, end-of-run)","draw":4,"file":"traj_4.csv.kf.csv","level":"kf","rule":"median full-run SE(3) KF ATE, lost draws excluded","n":184,"ate_se3_full_run_m":2.7202605477985884,"n_assoc":33,"lost_final_atlas_gt1":true},"ours":{"system":"xclean P1 (frozen engine p13f4b, final board median run; live stream LIVE-MAP)","draw":"board2_rosario_03","file":"trajectory_kf.csv","level":"keyframes (P1's own keyframes; their LIVE poses, published at that frame, never revised)","n":654,"ate_se3_full_run_m":1.264970405362805,"n_assoc":141,"sim3_scale":1.0247941594531944},"err":{"method":"|ours.p_map - GT_map(t)| per keyframe, map frame; GT_map(t) = linear interpolation of trajectories.json gt.p_map (GT left-camera centre already mapped into our map frame with the scorer's full-run SE(3) alignment) between the bracketing GT samples; null where the bracket spans > 3 x the median GT step (0.6000 s) or the KF lies > 20 ms outside the GT span","gt_source":"trajectories.json gt (decimation: every 1-th row (<= 20 Hz); 1004 of 1004 rows of gt.csv)","rms_m":1.2081841847311463,"n":654,"n_kf":654,"median_gt_dt_s":0.19999999999998863,"ours_ate_se3_full_run_m":1.264970405362805,"ours_n_assoc_scorer":141,"rms_minus_ate_m":-0.056786220631658724,"note":"the scorer associates each KF with the nearest full-rate GT sample within 20 ms; this interpolates, so it can cover more KFs where the GT is sparser than the KFs (4Seasons, Rosario) and the RMS differs slightly","scorer_rule":{"rule":"nearest GT sample within 20 ms (the association of the board scorer), on the 1-mm rounded web positions","rms_m":1.2649111285464167,"n":141,"gt_full_rate":true,"note":null},"orb3":{"rms_m":2.9279672647510604,"n":184,"n_kf":184,"scorer_rule_rms_m":2.68938198639576,"scorer_rule_n":32,"orb3_ate_se3_full_run_m":2.7202605477985884,"orb3_n_assoc_scorer":33,"method":"same as ours (interpolated GT_map); not stored per keyframe in this file"}},"t0_t1":"t0/t1 = the run on the replay clock: earliest / latest keyframe time of ours and ORB-SLAM3 (GT may extend beyond); written at 0.1 ms, rounded OUTWARD (t0 down, t1 up) so [t0, t1] contains every raw time","spans_s":{"ours":[0.0,194.559],"orb3":[0.0,124.601],"gt":[-0.035,200.563]},"segment_raw_s":[0.0,194.559000015]}}
\ No newline at end of file
diff --git a/maps/rosario_04/ATTRIBUTION.json b/maps/rosario_04/ATTRIBUTION.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ff44014b962d5d8ca9df1dc7697875d3286de09
--- /dev/null
+++ b/maps/rosario_04/ATTRIBUTION.json
@@ -0,0 +1,9 @@
+{
+ "map": "rosario_04",
+ "source": "The Rosario Dataset (CIFASIS-CONICET), https://robot.cifasis-conicet.gov.ar/",
+ "source_licence": "CC BY 4.0 (\"All data in the Rosario Dataset is licensed under a Creative Commons 4.0 Attribution License (CC BY 4.0)\", official page checked 2026-10-30)",
+ "map_licence": "CC-BY-4.0",
+ "credit": "Source images: The Rosario Dataset, CIFASIS-CONICET, CC BY 4.0 (Pire et al., IJRR 2019). Changes: 3-D Gaussian-splat map reconstructed by Necessity Robotics (xclean) from the images and xclean's own live camera poses.",
+ "limitations": null,
+ "engine": "xclean (frozen engine p13f4b), final board median run; poses are the live SLAM output, not ground truth"
+}
\ No newline at end of file
diff --git a/maps/rosario_04/film/film.jpg b/maps/rosario_04/film/film.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..6da6947d77aa04e582452741481adca65741430e
--- /dev/null
+++ b/maps/rosario_04/film/film.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efd82f71e613c5e6cc9f609866aedff205f045a50c6da756beaa61bff28246ee
+size 89584
diff --git a/maps/rosario_04/film/film.json b/maps/rosario_04/film/film.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c1631d4e2c12860e91584c070147dc2beccad61
--- /dev/null
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