---
license: cc-by-nc-sa-4.0
---

<p align="center">
  <img src="overview.png" width="700", style="border-radius:10%">
  <h1 align="center">ArgoTweak: Towards Self-Updating HD Maps through Structured Priors</h1>
  <h3 align="center">
    <a href="https://Lwildd.github.io">Lena Wild</a>,
    <a href="https://sites.google.com/site/rafaelvalenciacarreno/home">Rafael Valencia</a>,
    <a href="https://www.kth.se/profile/patric">Patric Jensfelt</a>
  </h3>
  
</p>
<p align="center">
  <a href="https://creativecommons.org/licenses/by-nc-sa/4.0/">
    <img src="https://img.shields.io/badge/license-CC--BY--NC--SA%204.0-lightgrey.svg" alt="License: CC BY-NC-SA 4.0">
  </a>
</p>

## About
Reliable integration of prior information is crucial for selfverifying and self-updating HD maps. However, no public dataset includes the required triplet of prior maps, current maps, and sensor data. As a result, existing methods must rely on synthetic priors, which create inconsistencies and lead to a significant sim2real gap. To address this, we introduce ArgoTweak, the first dataset to complete the triplet with realistic map priors. At its core, ArgoTweak employs a bijective mapping framework, breaking down large-scale modifications into fine-grained atomic changes at the map element level, thus ensuring interpretability. This paradigm shift enables accurate change detection and integration while preserving unchanged elements with high fidelity.

## License
This dataset is derived from the [Argoverse 2 Map Change Dataset](https://www.argoverse.org/av2.html#mapchange-link), originally released by Argo AI under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License (CC BY-NC-SA 4.0).
Our annotations are licensed under the same terms. 

## [v1.0.0] – 2025-08-01
🚀 Official release of the ArgoTweak dataset
The numbers in the paper have been achieved with a legacy version (v0) of ArgoTweak. The official version v1 has been improved as follows:

- Refined lane segment connectivities (predecessors/successors) in multiple scenes 
- Annotated changes in the test split that were not identified in the original dataset [https://github.com/johnwlambert/tbv/blob/main/labeled_data/tbv_val_split_annotations.json](https://github.com/johnwlambert/tbv/blob/main/labeled_data/tbv_val_split_annotations.json)
- Improved consistencies of geometry annotations in several maps
- Removed incorrect intersection status of isolated lane segments
  
If, for any reason, you require access to the legacy version (v0) of ArgoTweak, please contact the authors directly.

## Quick Start 
Please refer to our ✨[dataset page](https://KTH-RPL.github.io/ArgoTweak)✨ for more detail.

## Citation
```
@inproceedings{wild2025argotweak,
  title={ArgoTweak: Towards Self-Updating HD Maps through Structured Priors},
  author={Lena Wild and Rafael Valencia and Patric Jensfelt},
  booktitle={Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV)},
  year={2025}
}
```