SuperMap: A Spatio-Temporal SLAM System for Visual-Language Navigation
Paper • 2608.22896 • Published
Datasets:
ArXiv:
License:
Dataset Viewer
The dataset viewer is not available for this split.
Cannot load the dataset split (in streaming mode) to extract the first rows.
Error code: StreamingRowsError
Exception: ValueError
Message: Trailing data
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 290, in _generate_tables
pa_table = paj.read_json(
io.BytesIO(batch), read_options=paj.ReadOptions(block_size=block_size)
)
File "pyarrow/_json.pyx", line 364, in pyarrow._json.read_json
File "pyarrow/error.pxi", line 155, in pyarrow.lib.pyarrow_internal_check_status
File "pyarrow/error.pxi", line 92, in pyarrow.lib.check_status
raise convert_status(status)
pyarrow.lib.ArrowInvalid: JSON parse error: Column() changed from object to number in row 0
During handling of the above exception, another exception occurred:
Traceback (most recent call last):
File "/src/services/worker/src/worker/utils.py", line 147, in get_rows_or_raise
return get_rows(
dataset=dataset,
...<4 lines>...
column_names=column_names,
)
File "/src/libs/libcommon/src/libcommon/utils.py", line 272, in decorator
return func(*args, **kwargs)
File "/src/services/worker/src/worker/utils.py", line 127, in get_rows
rows_plus_one = list(itertools.islice(safe_iter(ds, dataset=dataset), rows_max_number + 1))
File "/src/services/worker/src/worker/utils.py", line 483, in safe_iter
yield from ds.decode(False) if ds.features else ds
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2951, in __iter__
for key, example in ex_iterable:
^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2461, in __iter__
for key, pa_table in self._iter_arrow():
~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 2486, in _iter_arrow
for key, pa_table in self.ex_iterable._iter_arrow():
~~~~~~~~~~~~~~~~~~~~~~~~~~~~^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 547, in _iter_arrow
for key, pa_table in iterator:
^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/iterable_dataset.py", line 430, in _iter_arrow
for key, pa_table in self.generate_tables_fn(**gen_kwags):
~~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 304, in _generate_tables
batch = json_encode_fields_in_json_lines(original_batch, json_field_paths)
File "/usr/local/lib/python3.14/site-packages/datasets/utils/json.py", line 111, in json_encode_fields_in_json_lines
examples = [ujson_loads(line) for line in original_batch.splitlines()]
~~~~~~~~~~~^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/utils/json.py", line 20, in ujson_loads
return pd.io.json.ujson_loads(*args, **kwargs)
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^
ValueError: Trailing dataNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
SuperMap: CMU Gates and Scafie annotations
Point clouds and pointwise semantic labels for the SuperMap benchmark. 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: oneX Y Z R G Bpoint 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
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:
@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: reuse and modification, including commercial use, are permitted with attribution, a license link, and an indication of changes. See LICENSE.
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