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

Boyan Wang, Yongxi Huang, Wenjing Li +4

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 platf…