| language: en | |
| license: apache-2.0 | |
| tags: | |
| - semantic-segmentation | |
| - mask2former | |
| - autonomous-vehicles | |
| - off-road | |
| metrics: | |
| - mIoU | |
| # GOOSE-M2F (Swin-Large) | |
| This model is a task-specific adaptation of Mask2Former (Swin-Large) for the **ICRA 2026 GOOSE 2D Semantic Segmentation Challenge** in Vienna, Austria. | |
| ### Performance | |
| - **Official Composite mIoU: 70.08%** (Ranked at the top of the leaderboard) | |
| ### Architecture Modifications | |
| 1. **200 Object Queries** (expanded from 100) for high-density 64-class terrain parsing. | |
| 2. **Feature Refinement Module (FRM):** ASPP-lite + CBAM dual attention to resolve Vegetation and Terrain over-segmentation. | |
| 3. **Auxiliary Supervision Head:** Direct H/4 resolution supervision to bypass query bottlenecks for thin/rare objects. | |