dronefreak/hrp4k-yolov8s

YOLOv8s Finetuned on HRP4K

Fine-tuned YOLOv8s object detector on the HRP4K 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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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/hrp4k-yolov8s",
    filename="best.pt"
)

model = YOLO(weights)

Run Inference

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

results[0].show()

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Performance

Evaluated on the HRP4K test split, using DetectionBench's standard evaluation pipeline (detectionbench-evaluate).

Metric	Score (%)
mAP@50	47.59
mAP@50-95	26.71
Precision	59.81
Recall	44.3
F1 Score	50.9
Parameters	11.2M
FLOPs	28.6B (at 640 px)

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HRP4K Model Zoo

Every model DetectionBench has trained and evaluated on HRP4K 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 Small	56.04	31.54	62.01	55.48
RF-DETR Medium	55.66	31.81	64.25	51.9
RF-DETR Nano	52.06	28.62	62.03	47.88
YOLO26m	51.62	29.83	57.33	49.89
YOLO26s	48.65	27.16	60.04	46.91
YOLOv8n	48.58	26.24	58.0	46.58
YOLOv8s	47.59	26.71	59.81	44.3
YOLOv8m	47.26	26.77	59.56	44.52

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Per-Class Performance

Class	mAP@50	mAP@50-95
pothole	47.59	26.71

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Dataset

This model was trained on HRP4K. For the full dataset description, provenance, license, and citation, see the dataset card:

https://huggingface.co/datasets/dronefreak/HRP4K

Classes

• pothole

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Training Configuration

Setting	Value
Dataset	HRP4K
Framework	Ultralytics YOLO
Training Toolkit	DetectionBench
Epochs (configured max)	150
Epochs (actually trained)	108
Early Stopping Patience	30
Batch Size	auto (Ultralytics AutoBatch)
Image Size	1536
Optimizer	AdamW
Initial Learning Rate	0.001
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
hrp4k_yolov8s_showcase.jpg
README.md

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Related Resources

• HRP4K dataset card on Hugging Face
• DetectionBench -- reproducible benchmarks for modern object detectors on real-world datasets
• HRP4K paper (Scientific Data, doi:10.1038/s41597-026-07317-w)
• HRP4K dataset record (Zenodo, doi:10.5281/zenodo.17522874)
• HRP4K project repository

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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

• Incomplete upstream train split: the official train.json references 4,203 images, but the released archive ships only 2,286 of them, so the training set here is 2,286 images with 2,790 boxes (the validation and test splits are complete at 900 images each).
• Single class, sparse targets: every box is a pothole, with only about 1.2 boxes per image, and roughly a third of the images in every split contain no pothole at all (789 of 2,286 train, 300 of 900 valid, 300 of 900 test). Those empty test frames mean a false positive on a clean road directly lowers precision.
• Small targets in very large frames: every image is 3840x2160 (4K), and the median pothole is only about 61 px wide on the native frame (0.05% of the image area; the smallest 5% are under 16 px), so results depend strongly on the input resolution the model was trained and evaluated at -- at 640 px most potholes shrink to a few pixels.
• Wide, perspective-view boxes: the median box is about 2.9 times wider than tall, reflecting the dataset's road-surface perspective, so generalization to other camera positions (e.g. aerial or vehicle mounted) is untested.
• Small test split: 900 images with 921 boxes, so differences of about one mAP point between models are within noise and should be read with caution.

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Citation

If you use this model in your research, please consider citing the dataset and the model architecture:

@article{chen2026hrp4k,
  title={A high-resolution perspective-view road image dataset for pothole detection},
  author={Chen, Hanshen and Tu, Zhoulin and Zhao, Yu and Ye, Jianfeng},
  journal={Scientific Data},
  volume={13},
  pages={961},
  year={2026},
  doi={10.1038/s41597-026-07317-w}
}

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}
}