GOOSE-M2F: Adapting Mask2Former for High-Fidelity, Long-Tailed Fine-Grained Semantic Segmentation in Unstructured Outdoor Terrain

Jyothiraditya Lingam, Nikhileswara Rao Sulake, Sai Manikanta Eswar Machara

We present GOOSE-M2F, a task-specific adaptation of Mask2Former for the GOOSE 2D Fine-Grained Semantic Segmentation (FGSS) Challenge at ICRA 2026. The GOOSE benchmark spans 64 fine…