---
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.