---
tags:
- object-detection
- yolov5
- pytorch
---
# TurtleBot Detection Model

## Model Description
This is a YOLOv5-based object detection model trained to detect TurtleBots in images. The model was trained using the **TurtleBot Detection Dataset v1**, which contains **1,006 labeled images** with YOLO-format bounding box annotations.

- **Base Model**: YOLOv5s
- **Classes**: 1 (TurtleBot)
- **Input Size**: 640x640 pixels
- **Framework**: PyTorch / Ultralytics YOLOv5
- **License**: CC-BY-4.0

## Training Details
The model was trained on **50 epochs** using the following key hyperparameters:

- **Optimizer**: SGD
- **Initial Learning Rate (`lr0`)**: 0.01
- **Final Learning Rate Factor (`lrf`)**: 0.01
- **Momentum**: 0.937
- **Weight Decay**: 0.0005
- **Batch Size**: 16
- **Augmentations**:
  - Flip Left-Right (`fliplr`): 50%
  - HSV Saturation (`hsv_s`): 0.7
  - Scale (`scale`): 0.5
  - Mosaic: Enabled
- **Loss Parameters**:
  - IoU Threshold (`iou_t`): 0.2
  - Classification Loss (`cls`): 0.5

## Usage
To load the model and perform inference:

```python
from ultralytics import YOLO

# Load the model
model = YOLO("fhahn/turtlebot-yolov5").load()

# Run inference on an image
results = model.predict("test_image.jpg")
results.show()
```

## Dataset
This model was trained on the **TurtleBot Detection Dataset v1**, available at:
[https://huggingface.co/datasets/fhahn/turtlebot-detection-dataset-v1](https://huggingface.co/datasets/fhahn/turtlebot-detection-dataset-v1)

## License
This model is released under **CC-BY-4.0**. If you use this model, please cite:

```
@misc{turtlebot-detection-dataset-v1,
  author = {Fabian Hahn},
  title = {TurtleBot Detection Dataset v1},
  year = {2025},
  publisher = {Hugging Face},
  howpublished = {\url{https://huggingface.co/datasets/fhahn/turtlebot-detection-dataset-v1}}
}
```