Technical Report for the ICRA 2026 GOOSE 2D Fine-Grained Semantic Segmentation Challenge: Pretraining-Diverse Ensemble of Foundation Vision Encoders for Robust ... (opens in new tab)

This report presents our solution for the ICRA 2026 GOOSE 2D Fine-Grained Semantic Segmentation Challenge, which requires parsing unstructured outdoor scenes from four camera platforms into 56 fine-grained categories. Our approach pairs foundation vision encoders (including DINOv3, SigLIP2, and InternImage) with a Mask2Former decoder, and trains them with a strong recipe including long training schedules, exponential moving average, a larger cro...