Semantic_kitti dataset processing

[Alt216]

This is a wonder work! I have a question regarding how is the dataset such as semantic_kitti processed? When I try to print out what is in one of the npz files in semantic_kitti dataset I get this: ['pc1', 'pc2', 'sem_label_s', 'sem_label_t', 'inst_label_s', 'inst_label_t', 'mot_label_s', 'mot_label_t', 'pose_s', 'pose_t'], I wonder what each of these is and how to get them. Thanks!