Ensemble of three foundation encoders with Mask2Former and per-class validation weighting achieves second place at 75.40% mIoU on GOOSE 2D fine-grained segmentation, attributing gains mainly to pretraining diversity.
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Technical Report for the ICRA 2026 GOOSE 2D Fine-Grained Semantic Segmentation Challenge: Pretraining-Diverse Ensemble of Foundation Vision Encoders for Robust Outdoor Scene Understanding
Ensemble of three foundation encoders with Mask2Former and per-class validation weighting achieves second place at 75.40% mIoU on GOOSE 2D fine-grained segmentation, attributing gains mainly to pretraining diversity.