dronefreak/bdd100k-yolo11n

YOLOv11n Finetuned on BDD100K

Fine-tuned YOLOv11n object detector on the BDD100K benchmark dataset, trained and evaluated as part of DetectionBench -- a framework for reproducibly benchmarking modern object detectors with identical training recipes and evaluation metrics across multiple real-world datasets.

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Performance

Metric	Score (%)
mAP@50	51.63
mAP@50-95	29.06
Precision	71.68
Recall	46.34
F1 Score	56.29
Parameters	2.6M
FLOPs	6.6B (at 640 px)

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Evaluation Protocol

Metrics reported in this model card are computed on the BDD100K test split, using DetectionBench's standard evaluation pipeline (detectionbench-evaluate).

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BDD100K Model Zoo

Every model DetectionBench has trained and evaluated on BDD100K so far, for full transparency -- see DetectionBench for the smaller, curated comparison set used on the project README.

Model	mAP@50	mAP@50-95	Precision	Recall
RF-DETR Nano	56.9	31.58	80.68	64.78
YOLOv26n	52.25	29.23	72.56	46.87
YOLOv9t	52.04	29.46	71.34	46.72
YOLOv10n	51.95	29.31	71.58	46.62
YOLOv8n	51.67	29.09	70.95	46.59
YOLOv11n	51.63	29.06	71.68	46.34

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Per-Class Performance

Class	mAP@50	mAP@50-95
person	60.53	30.32
rider	40.86	20.37
car	79.28	49.08
truck	61.5	44.39
bus	59.73	46.07
train	0.0	0.0
motor	41.01	19.35
bike	42.01	20.75
traffic light	64.21	24.62
traffic sign	67.19	35.7

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Evaluation Visualizations

Precision-Recall Curve

F1 Curve

Confusion Matrix

Normalized Confusion Matrix

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Dataset

This model was trained on BDD100K. BDD100K is released under the BDD100K license (non-commercial research and education, registration required, no redistribution), so it is not mirrored on Hugging Face. Download it from the official site (https://www.bdd100k.com/) and see the Citation section below for the dataset's paper.

Classes

• person
• rider
• car
• truck
• bus
• train
• motor
• bike
• traffic light
• traffic sign

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Usage

Install Dependencies

pip install ultralytics huggingface_hub

Load Model from Hugging Face

from huggingface_hub import hf_hub_download
from ultralytics import YOLO

weights = hf_hub_download(
    repo_id="dronefreak/bdd100k-yolo11n",
    filename="best.pt"
)

model = YOLO(weights)

Run Inference

results = model.predict(
    source="image.jpg",
    conf=0.25
)

results[0].show()

---

Training Configuration

Setting	Value
Dataset	BDD100K
Framework	Ultralytics YOLO
Training Toolkit	DetectionBench
Epochs (configured max)	50
Epochs (actually trained)	50
Early Stopping Patience	10
Batch Size	auto (Ultralytics AutoBatch)
Image Size	960
Optimizer	SGD
Initial Learning Rate	0.01
Seed	0

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Repository Contents

best.pt
results.csv
args.yaml
BoxPR_curve.png
BoxF1_curve.png
BoxP_curve.png
BoxR_curve.png
confusion_matrix.png
confusion_matrix_normalized.png
val_batch0_pred.jpg
bdd100k_yolo11n_showcase.jpg
assets/demo_banner.mp4
assets/demo_banner_poster.jpg
README.md

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Related Resources

• DetectionBench -- reproducible benchmarks for modern object detectors on real-world datasets
• BDD100K project website (official data source)

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Training Framework

This model was trained using DetectionBench, an open-source framework for benchmarking object detectors across multiple real-world datasets with a common pipeline.

Features include:

• A dataset-adapter registry for converting real-world datasets into a canonical format
• Identical training/evaluation recipes across model families (Ultralytics YOLO/RT-DETR, RF-DETR)
• Hardware profiling (latency, FPS, VRAM, parameters, FLOPs)
• One-command reproducibility via versioned Hydra configs

If you find this model useful, please consider starring the repository.

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Known Limitations

• Not comparable to the official BDD100K test-server leaderboard: the official test split has no released labels, so the test split here is BDD100K's official validation set (10,000 images) and a seeded 15% slice of the official train set is held out for validation.
• Severe class imbalance: car (55.4%), traffic sign (18.6%) and traffic light (14.5%) dominate the boxes, while rider (0.4%), motor (0.2%) and especially train (about 150 boxes in the whole dataset) are rare -- per-class accuracy on those classes is measured on very few examples and is close to noise for train.
• Small objects: the median box covers only 0.09% of the 1280x720 frame, and traffic lights and signs are the smallest and hardest classes (medians of roughly 16 px and 21 px at native resolution), so scores on them depend heavily on input resolution.
• Detection labels only: BDD100K's lane-marking and drivable-area annotations are dropped, so these models cover the 2D object detection task only.
• Conditions are not broken down: the images span weather, time-of-day and scene conditions, but scores here are aggregated over all of them, and generalization outside the US road scenes BDD100K covers is untested.
• Non-commercial data with no redistribution: BDD100K is released under the BDD100K license (non-commercial research and education, registration required), so the dataset is not mirrored on Hugging Face -- obtain it from the official site and check its terms before any use beyond research.

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Citation

If you use this model in your research, please consider citing:

1. The BDD100K dataset (see below)
2. The original YOLOv11n architecture (see below)
3. The other model architectures shown in the Model Zoo/External Comparison tables above, if you reference their results
4. DetectionBench, the training/evaluation framework used to produce this checkpoint

@inproceedings{yu2020bdd100k,
  title={BDD100K: A Diverse Driving Dataset for Heterogeneous Multitask Learning},
  author={Yu, Fisher and Chen, Haofeng and Wang, Xin and Xian, Wenqi and Chen, Yingying and Liu, Fangchen and Madhavan, Vashisht and Darrell, Trevor},
  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  pages={2636--2645},
  year={2020}
}

No official YOLO11 research paper has been published by Ultralytics; the most commonly cited independent architectural analysis is used instead:

@article{khanam2024yolov11,
  title={YOLOv11: An Overview of the Key Architectural Enhancements},
  author={Khanam, Rahima and Hussain, Muhammad},
  journal={arXiv preprint arXiv:2410.17725},
  year={2024}
}

Other architectures compared against on BDD100K in this model card:

RF-DETR

@inproceedings{robinson2026rfdetr,
  title     = {RF-DETR: Real-Time Detection Transformer},
  author    = {Robinson, Isaac and Robicheaux, Peter and Popov, Matvei and Ramanan, Deva and Peri, Neehar},
  booktitle = {International Conference on Learning Representations (ICLR)},
  year      = {2026},
  url       = {https://arxiv.org/abs/2511.09554}
}

@article{oquab2023dinov2,
  title={DINOv2: Learning Robust Visual Features without Supervision},
  author={Oquab, Maxime and Darcet, Timoth{\'e}e and Moutakanni, Theo and Vo, Huy and Szafraniec, Marc and Khalidov, Vasil and Fernandez, Pierre and Haziza, Daniel and Massa, Francisco and El-Nouby, Alaaeldin and others},
  journal={arXiv preprint arXiv:2304.07193},
  year={2023}
}

YOLOv10

@article{wang2024yolov10,
  title={YOLOv10: Real-Time End-to-End Object Detection},
  author={Wang, Ao and Chen, Hui and Liu, Lihao and Chen, Kai and Lin, Zijia and Han, Jungong and Ding, Guiguang},
  journal={arXiv preprint arXiv:2405.14458},
  year={2024}
}

YOLOv26

@article{jocher2026yolo26,
  title={Ultralytics YOLO26: Unified Real-Time End-to-End Vision Models},
  author={Jocher, Glenn and Qiu, Jing and Liu, Mengyu and Lyu, Shuai and Akyon, Fatih Cagatay and Kalfaoglu, Muhammet Esat},
  journal={arXiv preprint arXiv:2606.03748},
  year={2026}
}

YOLOv8

No official YOLOv8 research paper has been published by Ultralytics; this is their own recommended software citation instead:

@software{jocher2023yolov8,
  author = {Glenn Jocher and Ayush Chaurasia and Jing Qiu},
  title = {Ultralytics YOLOv8},
  version = {8.0.0},
  year = {2023},
  url = {https://github.com/ultralytics/ultralytics},
  license = {AGPL-3.0}
}

YOLOv9

@article{wang2024yolov9,
  title={YOLOv9: Learning What You Want to Learn Using Programmable Gradient Information},
  author={Wang, Chien-Yao and Yeh, I-Hau and Liao, Hong-Yuan Mark},
  journal={arXiv preprint arXiv:2402.13616},
  year={2024}
}

@software{Saksena_DetectionBench_2026,
  author = {Saksena, Saumya Kumaar},
  title = {DetectionBench: Reproducible Benchmarks for Modern Object Detectors on Real-World Datasets},
  url = {https://github.com/dronefreak/DetectionBench},
  year = {2026}
}