Technical Report for ICRA 2026 GOOSE 2D Fine-Grained Semantic Segmentation Challenge: Exploring Query-Based Segmentation and Increased Spatial Context for Outdoor Scene Understanding

David Pascual-Hernández, Roberto Calvo-Palomino, Inmaculada Mora-Jiménez +1

In this report, we present our submission to the GOOSE 2D Fine-Grained Semantic Segmentation Challenge, organized as part of the Workshop on Field Robotics at ICRA 2026. The challe…