Taylor was cut Monday by Green Bay. He played in five games this season with no statistics.
In four NFL seasons with the Packers, Taylor has caught eight career passes for 45 yards and a touchdown.
The 6-foot-3, 254-pounder played in 50 games for the Packers after being drafted in the seventh round in 2011 out of North Carolina. He's primarily regarded as a blocking tight end.
Supernaw was promoted to the Ravens' active roster from the practice squad, but he injured his thigh in practice last week and was scratched for Sunday's game.
Meanwhile, the Ravens have added defensive end Steven Means to their practice squad. He takes the spot of outside linebacker John Simon, who was signed to the Houston Texans' active roster Tuesday. Means was drafted in the fifth round last year by the Tampa Bay Buccaneers. He played in 10 games as a rookie and had five tackles.
Means was cut by Tampa Bay after the first game of the regular season.