YOLOR-5GBS

YOLOv11x fine-tuned to detect outdoor RF infrastructure — 5G BS (5G small cells) and LampPost with the 80 COCO classes. Part of the YOLOR detector family used for Stage 1 (camera priming) of the Look Once, Beam Twice mmWave V2X beam-management pipeline (SECON 2026). Data was captured in Downtown Lincoln, Nebraska, USA.

Reference implementation for the paper:

Avhishek Biswas*, Apala Pramanik*, Eylem Ekici, Mehmet C. Vuran. "Look Once, Beam Twice: Camera-Primed Real-Time Double-Directional mmWave Beam Management for Vehicular Connectivity." (*equal contribution)

arXiv: https://doi.org/10.48550/arXiv.2605.05071

Quick links

• Paper (arXiv): https://doi.org/10.48550/arXiv.2605.05071
• Code: https://github.com/UNL-CPN-Lab/Look-Once-Beam-Twice
• Training pipeline: https://github.com/UNL-CPN-Lab/Look-Once-Beam-Twice/tree/main/YOLOR_Training

Architecture	YOLOv11x, 82-class output head (COCO 80 + 2 custom)
Initialization	stock yolo11x.pt
Schedule	200 epochs, cos_lr, close_mosaic=20, lr0=0.01
Training data	OutdoorDataset labeled subset — 4,107 train / 336 val / 362 test
Custom classes	5G BS (id 80), LampPost (id 81)
Released checkpoint	last.pt

Usage

from huggingface_hub import hf_hub_download
from ultralytics import YOLO

weights = hf_hub_download(repo_id="cpnlab/YOLOR-5GBS", filename="last.pt")
model = YOLO(weights)
results = model.predict("path/to/image.jpg", conf=0.25)

Class indices: 0–79 = COCO; 80 = 5G BS; 81 = LampPost.

Intended use

• Stage-1 BS-candidate detector for outdoor mmWave V2X beam management.
• Outdoor object detection where the relative position of 5G small cells and the lamp/utility-pole infrastructure they're co-located with matters.

Training data

Not publicly redistributed. Contact the paper authors for access.

Citation

@inproceedings{biswas2026look,
  title     = {Look Once, Beam Twice: Camera-Primed Real-Time Double-Directional
               mmWave Beam Management for Vehicular Connectivity},
  author    = {Biswas, Avhishek and Pramanik, Apala and Ekici, Eylem and Vuran, Mehmet C.},
  booktitle = {Proc. IEEE SECON},
  year      = {2026}
}

Paper: https://doi.org/10.48550/arXiv.2605.05071 · Code: https://github.com/UNL-CPN-Lab/Look-Once-Beam-Twice

Contact

For questions about this model or the paper, contact the corresponding authors:

• Avhishek Biswas — abiswas3@huskers.unl.edu
• Apala Pramanik — apramanik2@huskers.unl.edu

Acknowledgments

Developed at the Cyber Physical Networking (CPN) Lab, School of Computing, University of Nebraska–Lincoln, in collaboration with The Ohio State University. Thanks to Sivers Semiconductors, Ettus Research, and the open-source Ultralytics, PyTorch, and Ettus UHD communities.