Depending on what it is.
If it is just rubber scuffs, just use your palm and rub it. It may hurt a little because of friction, but it is likely to peel off. What the marks are, basically, is just melted rubber from the shoe.
So friction, eg:rubbing your palm into it, will likely melt it again and lift it.
Another way is polishing it, to try cut it out.
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