Object Detection on BDD100K
78.78mAPBaseline
Evaluation results
| Method | Links | |||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| BaselineBackbone=YOLOv7x, Pre-training=pre-trained on COCO, Num. params (M)=71.3, Inf. time (ms)=822026.04 | 78.78 | — | — | — | — | — | — | — | — | — | — | |
| BaselineBackbone=YOLOv7, Pre-training=pre-trained on COCO, Num. params (M)=63.9, Inf. time (ms)=732026.04 | 78.65 | — | — | — | — | — | — | — | — | — | — | |
| Ensemble NMWBackbone=YOLOv7, Pre-training=pre-trained on COCO, Num. params (M)=127.8, Inf. time (ms)=1572026.04 | 78.05 | — | — | — | — | — | — | — | — | — | — | |
| EnsembleBackbone=YOLOv7x, Pre-training=pre-trained on COCO, Num. params (M)=142.6, Inf. time (ms)=1702026.04 | 77.8 | — | — | — | — | — | — | — | — | — | — | |
| MoEBackbone=YOLOv7, Pre-training=pre-trained on COCO, Num. params (M)=127.8, Inf. time (ms)=802026.04 | 77.24 | — | — | — | — | — | — | — | — | — | — | |
| EnsembleBackbone=YOLOv9-E, Pre-training=pre-trained on COCO, Num. params (M)=114.6, Inf. time (ms)=1072026.04 | 77.12 | — | — | — | — | — | — | — | — | — | — | |
| BaselineBackbone=YOLOv7x, Pre-training=trained from scratch, Num. params (M)=71.3, Inf. time (ms)=832026.04 | 76.84 | — | — | — | — | — | — | — | — | — | — | |
| Daytime expertBackbone=YOLOv7, Pre-training=pre-trained on COCO, Num. params (M)=63.9, Inf. time (ms)=732026.04 | 76.78 | — | — | — | — | — | — | — | — | — | — | |
| EnsembleBackbone=YOLOv7x, Pre-training=trained from scratch, Num. params (M)=142.6, Inf. time (ms)=1782026.04 | 76.39 | — | — | — | — | — | — | — | — | — | — | |
| Daytime expertBackbone=YOLOv7x, Pre-training=pre-trained on COCO, Num. params (M)=71.3, Inf. time (ms)=822026.04 | 76.26 | — | — | — | — | — | — | — | — | — | — | |
| MoEBackbone=YOLOv7x, Pre-training=trained from scratch, Num. params (M)=142.6, Inf. time (ms)=962026.04 | 76.01 | — | — | — | — | — | — | — | — | — | — | |
| MoEBackbone=YOLOv9-E, Pre-training=pre-trained on COCO, Num. params (M)=114.6, Inf. time (ms)=1072026.04 | 75.24 | — | — | — | — | — | — | — | — | — | — | |
| EnsembleBackbone=YOLOv9c, Pre-training=pre-trained on COCO, Num. params (M)=50.6, Inf. time (ms)=982026.04 | 74.44 | — | — | — | — | — | — | — | — | — | — | |
| MoEBackbone=YOLOv7x, Pre-training=pre-trained on COCO, Num. params (M)=142.6, Inf. time (ms)=972026.04 | 74.38 | — | — | — | — | — | — | — | — | — | — | |
| Daytime expertBackbone=YOLOv9-E, Pre-training=pre-trained on COCO, Num. params (M)=57.3, Inf. time (ms)=692026.04 | 74.37 | — | — | — | — | — | — | — | — | — | — | |
| Daytime expertBackbone=YOLOv7x, Pre-training=trained from scratch, Num. params (M)=71.3, Inf. time (ms)=832026.04 | 74.29 | — | — | — | — | — | — | — | — | — | — | |
| MoEBackbone=YOLOv9c, Pre-training=pre-trained on COCO, Num. params (M)=50.6, Inf. time (ms)=942026.04 | 73.73 | — | — | — | — | — | — | — | — | — | — | |
| EnsembleBackbone=YOLOv9c, Pre-training=trained from scratch, Num. params (M)=50.6, Inf. time (ms)=982026.04 | 73.73 | — | — | — | — | — | — | — | — | — | — | |
| BaselineBackbone=YOLOv9-E, Pre-training=pre-trained on COCO, Num. params (M)=57.3, Inf. time (ms)=692026.04 | 73.61 | — | — | — | — | — | — | — | — | — | — | |
| BaselineBackbone=YOLOv9c, Pre-training=pre-trained on COCO, Num. params (M)=25.3, Inf. time (ms)=632026.04 | 73.52 | — | — | — | — | — | — | — | — | — | — | |
| Nighttime expertBackbone=YOLOv7, Pre-training=pre-trained on COCO, Num. params (M)=63.9, Inf. time (ms)=732026.04 | 72.37 | — | — | — | — | — | — | — | — | — | — | |
| MoEBackbone=YOLOv9c, Pre-training=trained from scratch, Num. params (M)=50.6, Inf. time (ms)=932026.04 | 71.72 | — | — | — | — | — | — | — | — | — | — | |
| BaselineBackbone=YOLOv9c, Pre-training=trained from scratch, Num. params (M)=25.3, Inf. time (ms)=632026.04 | 71.23 | — | — | — | — | — | — | — | — | — | — | |
| Daytime expertBackbone=YOLOv9c, Pre-training=pre-trained on COCO, Num. params (M)=25.3, Inf. time (ms)=632026.04 | 69.37 | — | — | — | — | — | — | — | — | — | — | |
| BaselineBackbone=YOLOv7-tiny, Pre-training=trained from scratch, Num. params (M)=6.2, Inf. time (ms)=822026.04 | 69.3 | — | — | — | — | — | — | — | — | — | — | |
| Daytime expertBackbone=YOLOv9c, Pre-training=trained from scratch, Num. params (M)=25.3, Inf. time (ms)=632026.04 | 69.04 | — | — | — | — | — | — | — | — | — | — | |
| Nighttime expertBackbone=YOLOv9-E, Pre-training=pre-trained on COCO, Num. params (M)=57.3, Inf. time (ms)=692026.04 | 68.48 | — | — | — | — | — | — | — | — | — | — | |
| Nighttime expertBackbone=YOLOv7x, Pre-training=trained from scratch, Num. params (M)=71.3, Inf. time (ms)=832026.04 | 68.33 | — | — | — | — | — | — | — | — | — | — | |
| EnsembleBackbone=YOLOv9-S, Pre-training=pre-trained on COCO, Num. params (M)=14.2, Inf. time (ms)=732026.04 | 68.27 | — | — | — | — | — | — | — | — | — | — | |
| Nighttime expertBackbone=YOLOv7x, Pre-training=pre-trained on COCO, Num. params (M)=71.3, Inf. time (ms)=822026.04 | 67.81 | — | — | — | — | — | — | — | — | — | — | |
| Nighttime expertBackbone=YOLOv9c, Pre-training=trained from scratch, Num. params (M)=25.3, Inf. time (ms)=632026.04 | 67.71 | — | — | — | — | — | — | — | — | — | — | |
| BaselineBackbone=YOLOv9-S, Pre-training=pre-trained on COCO, Num. params (M)=7.1, Inf. time (ms)=542026.04 | 66.83 | — | — | — | — | — | — | — | — | — | — | |
| Daytime expertBackbone=YOLOv9-S, Pre-training=pre-trained on COCO, Num. params (M)=7.1, Inf. time (ms)=542026.04 | 66.03 | — | — | — | — | — | — | — | — | — | — | |
| MoEBackbone=YOLOv9-S, Pre-training=pre-trained on COCO, Num. params (M)=14.2, Inf. time (ms)=762026.04 | 64.83 | — | — | — | — | — | — | — | — | — | — | |
| Nighttime expertBackbone=YOLOv9c, Pre-training=pre-trained on COCO, Num. params (M)=25.3, Inf. time (ms)=632026.04 | 64.49 | — | — | — | — | — | — | — | — | — | — | |
| EnsembleBackbone=YOLOv7-tiny, Pre-training=trained from scratch, Num. params (M)=12.4, Inf. time (ms)=1862026.04 | 61.57 | — | — | — | — | — | — | — | — | — | — | |
| MoEBackbone=YOLOv7-tiny, Pre-training=trained from scratch, Num. params (M)=12.4, Inf. time (ms)=822026.04 | 60.36 | — | — | — | — | — | — | — | — | — | — | |
| Nighttime expertBackbone=YOLOv7-tiny, Pre-training=trained from scratch, Num. params (M)=6.2, Inf. time (ms)=822026.04 | 59.6 | — | — | — | — | — | — | — | — | — | — | |
| CBBBackbone=DINOv3-L2026.04 | 58.9 | 49.5 | 54.2 | 74.3 | 55 | 66.5 | 58.2 | 54.5 | — | — | — | |
| DINOv3Backbone=DINOv3-L2026.04 | 57.8 | 48.6 | 56.8 | 73.4 | 52.9 | 64.4 | 57.6 | 51 | — | — | — | |
| CBBBackbone=DINOv2-L2026.04 | 56.9 | 48.2 | 48.9 | 74.5 | 52.8 | 65 | 57.1 | 52 | — | — | — | |
| Daytime expertBackbone=YOLOv7-tiny, Pre-training=trained from scratch, Num. params (M)=6.2, Inf. time (ms)=822026.04 | 56.33 | — | — | — | — | — | — | — | — | — | — | |
| CBBDetector Strategy=Diff. Detector, Backbone=Stable Diffusion (SD)2026.04 | 53.1 | 44 | 43.5 | 76.2 | 45.9 | 66.2 | 53.9 | 42.1 | — | — | — | |
| DINOv2Backbone=DINOv2-L2026.04 | 51.8 | 41.7 | 47.8 | 70 | 47.3 | 56.9 | 53.2 | 45.5 | — | — | — | |
| Diff. Guided DetectorEvaluation Protocol=Domain Adaptation (DA), Backbone=ResNet-1012025.06 | 51.3 | 43.6 | 42.9 | 75.2 | 40.5 | 64.6 | 49.6 | 42.9 | — | — | — | |
| CBBBackbone=SAM-Huge2026.04 | 50.1 | 42.6 | 39.9 | 70.4 | 45.5 | 61.6 | 52.5 | 38.2 | — | — | — | |
| Diff. DetectorEvaluation Protocol=Domain Generalization (DG), Backbone=SD-1.52025.06 | 49.3 | 41.2 | 41.7 | 72.7 | 37.2 | 62.8 | 48.7 | 46.5 | — | — | — | |
| BoostDetector Strategy=Diff. Detector, Backbone=Stable Diffusion (SD)2026.04 | 49.3 | 41.2 | 41.7 | 72.7 | 37.2 | 62.8 | 48.7 | 40.5 | — | — | — | |
| Nighttime expertBackbone=YOLOv9-S, Pre-training=pre-trained on COCO, Num. params (M)=7.1, Inf. time (ms)=542026.04 | 49.24 | — | — | — | — | — | — | — | — | — | — | |
| SAMBackbone=SAM-Huge2026.04 | 48.1 | 41.1 | 36.7 | 69 | 44.1 | 58.5 | 52 | 35.5 | — | — | — | |
| CBBDetector Strategy=Diff. Guided, Backbone=ResNet-1012026.04 | 47.9 | 40.5 | 33.7 | 75.3 | 38.9 | 62 | 48.8 | 35.9 | — | — | — | |
| Diff. Guided DetectorEvaluation Protocol=Domain Generalization (DG), Backbone=ResNet-1012025.06 | 46.7 | 39.4 | 34.1 | 72.2 | 37.4 | 61.3 | 46.9 | 38.4 | — | — | — | |
| BoostDetector Strategy=Diff. Guided, Backbone=ResNet-1012026.04 | 46.7 | 39.4 | 34.1 | 72.2 | 37.4 | 61.3 | 46.9 | 35.7 | — | — | — | |
| GDDEvaluation Protocol=Domain Generalization (DG), Backbone=SD-1.52025.06 | 46.6 | 38.9 | 31 | 71.5 | 37.6 | 61.5 | 47 | 38.5 | — | — | — | |
| GDDDetector Strategy=Diff. Detector, Backbone=Stable Diffusion (SD)2026.04 | 46.6 | 38.9 | 31 | 71.5 | 37.6 | 61.5 | 47 | 38.5 | — | — | — | |
| GDDEvaluation Protocol=Domain Generalization (DG), Backbone=ResNet-1012025.06 | 46.3 | 38.4 | 33.4 | 72 | 38.3 | 60.3 | 47 | 35 | — | — | — | |
| GDDDetector Strategy=Diff. Guided, Backbone=ResNet-1012026.04 | 46.3 | 38.4 | 33.4 | 72 | 38.3 | 60.3 | 47 | 35 | — | — | — | |
| DDTEvaluation Protocol=Domain Adaptation (DA), Backbone=ResNet-1012025.06 | 43.4 | 40.3 | 32.3 | 66.7 | 31.8 | 59.1 | 41.6 | 31.8 | — | — | — | |
| HTEvaluation Protocol=Domain Adaptation (DA)2025.06 | 40.2 | 38 | 30.6 | 63.5 | 28.2 | 53.4 | 40.4 | 27.4 | — | — | — | |
| CATEvaluation Protocol=Domain Adaptation (DA)2025.06 | 38.5 | 34.6 | 31.7 | 61.2 | 24.4 | 44.6 | 41.5 | 31.4 | — | — | — | |
| MTMEvaluation Protocol=Domain Adaptation (DA)2025.06 | 37.3 | 28 | 28.8 | 68.8 | 23.8 | 53.7 | 35.1 | 23 | — | — | — | |
| PTEvaluation Protocol=Domain Adaptation (DA)2025.06 | 34.9 | 28.8 | 33.8 | 52.7 | 23 | 40.5 | 39.9 | 25.8 | — | — | — | |
| SIGMA++Evaluation Protocol=Domain Adaptation (DA)2025.06 | 33.7 | 27.1 | 26.3 | 65.6 | 24.8 | 47.5 | 30.4 | 21.1 | — | — | — | |
| TDDEvaluation Protocol=Domain Adaptation (DA)2025.06 | 33.6 | 28.8 | 25.5 | 53.9 | 24.5 | 39.6 | 38.9 | 24.1 | — | — | — | |
| DDTEvaluation Protocol=Domain Generalization (DG), Backbone=SD-1.52025.06 | 32.7 | — | — | — | — | — | — | — | — | — | — | |
| SIGMAEvaluation Protocol=Domain Adaptation (DA)2025.06 | 32.7 | 26.3 | 23.6 | 64.1 | 24.1 | 46.9 | 29.6 | 20.2 | — | — | — | |
| DDTBackbone=Stable Diffusion (SD)2026.04 | 32.7 | — | — | — | — | — | — | — | — | — | — | |
| MADEvaluation Protocol=Domain Generalization (DG)2025.06 | 28 | — | — | — | — | — | — | — | — | — | — | |
| MAD2026.04 | 28 | — | — | — | — | — | — | — | — | — | — | |
| EPMEvaluation Protocol=Domain Adaptation (DA)2025.06 | 27.8 | 20.1 | 19.1 | 55.8 | 14.5 | 39.6 | 26.8 | 18.8 | — | — | — | |
| SRCDEvaluation Protocol=Domain Generalization (DG)2025.06 | 25.9 | 24.8 | 21.5 | 38.7 | 19 | 25.7 | 28.4 | 23.1 | — | — | — | |
| SRCD2026.04 | 25.9 | 24.8 | 21.5 | 38.7 | 19 | 25.7 | 28.4 | 23.1 | — | — | — | |
| SHADEEvaluation Protocol=Domain Generalization (DG)2025.06 | 24 | 25.1 | 19 | 36.8 | 18.4 | 24.1 | 24.9 | 19.8 | — | — | — | |
| SHADE2026.04 | 24 | 25.1 | 19 | 36.8 | 18.4 | 24.1 | 24.9 | 19.8 | — | — | — | |
| CDSDEvaluation Protocol=Domain Generalization (DG)2025.06 | 21.7 | 22.9 | 20.5 | 33.8 | 14.7 | 18.5 | 23.6 | 18.2 | — | — | — | |
| CDSD2026.04 | 21.7 | 22.9 | 20.5 | 33.8 | 14.7 | 18.5 | 23.6 | 18.2 | — | — | — | |
| VLOD-TTADetector=Grounding DINO2025.10 | 18.1 | — | — | — | — | — | — | — | — | 31.1 | 18.5 | |
| AdapterDetector=Grounding DINO2025.10 | 16.8 | — | — | — | — | — | — | — | — | 28.7 | 16.6 | |
| VPTDetector=Grounding DINO2025.10 | 16.7 | — | — | — | — | — | — | — | — | 28.5 | 16.2 | |
| DPEDetector=Grounding DINO2025.10 | 16.7 | — | — | — | — | — | — | — | — | 28.6 | 16.3 | |
| ZSDetector=Grounding DINO2025.10 | 16.6 | — | — | — | — | — | — | — | — | 28.3 | 16.2 | |
| TPTDetector=Grounding DINO2025.10 | 16.6 | — | — | — | — | — | — | — | — | 28.4 | 16.2 | |
| VLOD-TTADetector=YOLO-World2025.10 | 14.6 | — | — | — | — | — | — | — | — | 24.3 | 14.8 | |
| AdapterDetector=YOLO-World2025.10 | 13.7 | — | — | — | — | — | — | — | — | 21.7 | 13.1 | |
| VPTDetector=YOLO-World2025.10 | 13.5 | — | — | — | — | — | — | — | — | 22.3 | 13.2 | |
| DPEDetector=YOLO-World2025.10 | 13.5 | — | — | — | — | — | — | — | — | 22.3 | 13.3 | |
| TPTDetector=YOLO-World2025.10 | 13.4 | — | — | — | — | — | — | — | — | 22.2 | 13.5 | |
| ZSDetector=YOLO-World2025.10 | 13.3 | — | — | — | — | — | — | — | — | 22 | 13.4 | |
| DLT-Net2026.02 | — | — | — | — | — | — | — | — | 89.4 | 68.4 | — | |
| Faster R-CNN2026.02 | — | — | — | — | — | — | — | — | 77.2 | 55.6 | — | |
| HybridNets2026.02 | — | — | — | — | — | — | — | — | 92.8 | 77.3 | — | |
| MultiNet2026.02 | — | — | — | — | — | — | — | — | 81.3 | 60.2 | — | |
| UV-M3TL2026.02 | — | — | — | — | — | — | — | — | 93.5 | 83.9 | — | |
| YOLOP2026.02 | — | — | — | — | — | — | — | — | 89.2 | 76.5 | — | |
| YOLOPv22026.02 | — | — | — | — | — | — | — | — | 91.1 | 83.4 | — | |
| YOLOPX2026.02 | — | — | — | — | — | — | — | — | 93.7 | 83.3 | — | |
| YOLOv5s2026.02 | — | — | — | — | — | — | — | — | 86.8 | 77.2 | — |