SpaceCache checkpoints

Checkpoints for SpaceCache: Intermediate Feature Reuse for Efficient Semantic Segmentation on Point Cloud Streams (paper, code).

SpaceCache is training-free: these are the backbone segmentation models it runs on, Utonia and LitePT-B, trained on Waymo, nuScenes and ScanNet.

Usage

From the root of the SpaceCache repository:

huggingface-cli download honeydong49/SpaceCache --include "exp/*" --local-dir .

The files land under exp/, where the evaluation configs read them.

Checkpoints

Backbone	Dataset	File
Utonia	Waymo	exp/utonia/semseg-utonia-v1m1-5b-waymo-dec/model/model_best.pth
Utonia	nuScenes	exp/utonia/semseg-utonia-v1m1-4b-nuscenes-dec/model/model_best.pth
Utonia	ScanNet	exp/utonia/semseg-utonia-v1m1-0b-scannet-dec/model/model_best.pth
LitePT-B	Waymo	exp/litept/waymo/semseg-litept-v1m1-0-base/model/model_best.pth
LitePT-B	nuScenes	exp/litept/nuscenes/semseg-litept-v1m1-0-base/model/model_best.pth
LitePT-B	ScanNet	exp/litept/scannet/semseg-litept-v1m1-0-base/model/model_best.pth

Each file holds the model weights (state_dict) only. The Utonia models are a segmentation decoder trained on top of the released Utonia encoder, which was kept frozen; the file contains both. The LitePT-B models were trained from scratch with the LitePT architecture.

License

All checkpoints are for non-commercial research only.

Checkpoints	Terms
Utonia (all datasets)	contain the Utonia weights, CC BY-NC 4.0, plus the Waymo agreement (the Utonia encoder was pretrained partly on Waymo; notice below) and the terms of the dataset below
Waymo	Waymo Dataset License Agreement for Non-Commercial Use (notice below; copy in WAYMO_LICENSE.txt)
nuScenes	CC BY-NC-SA 4.0, nuScenes terms of use
ScanNet	ScanNet Terms of Use

The checkpoints trained on Waymo, and all Utonia checkpoints (the Utonia encoder was pretrained partly on Waymo), were made using the Waymo Open Dataset, provided by Waymo LLC under the Waymo Dataset License Agreement for Non-Commercial Use, available at waymo.com/open/terms, and your access and use of such work are governed by the terms and conditions therein. They are released under that agreement; any further downstream use or modification of them is subject to its terms, including the non-commercial restrictions of its Section 4. They must not be used to operate or assist the operation of a vehicle, in production systems, or for other primarily commercial purposes. A copy of the agreement is in WAYMO_LICENSE.txt; the current terms at waymo.com/open/terms govern.

Citation

@article{yang2026spacecache,
  title   = {SpaceCache: Intermediate Feature Reuse for Efficient Semantic Segmentation on Point Cloud Streams},
  author  = {Yang, Dongheon and Kang, Beomseok and Kim, Jae-Joon},
  journal = {arXiv preprint arXiv:2610.21207},
  year    = {2026}
}