diff --git a/train_yolo.py b/train_yolo.py index ebefeb6..2966a33 100644 --- a/train_yolo.py +++ b/train_yolo.py @@ -81,7 +81,7 @@ def train_yolo(): results = model.train( data=dataset_yaml, epochs=50, - imgsz=320, # Bildgröße + imgsz=(80, 60), # Bildgröße batch=16, # Batch-Größe device=0, # Verwende CPU (oder 'cuda' für GPU) patience=5, # Early Stopping @@ -94,13 +94,13 @@ def train_yolo(): print("\nExportiere Modell in verschiedene Formate...") # ONNX Format (gut für eingebettete Systeme) - model.export(format='onnx', imgsz=320) + model.export(format='onnx', imgsz=(80, 60)) # OpenVINO Format (optimiert für Intel Hardware) - model.export(format='openvino', imgsz=320) + model.export(format='openvino', imgsz=(80, 60)) # tflite Format - model.export(format="tflite",imgsz=320,) + model.export(format="tflite",imgsz=(80, 60)) print("\nTraining abgeschlossen. Die Modelle wurden im 'yolo_training/NAO_detector' Ordner gespeichert.") diff --git a/yolo_training/NAO_detector2/args.yaml b/yolo_training/NAO_detector2/args.yaml new file mode 100644 index 0000000..29bef59 --- /dev/null +++ b/yolo_training/NAO_detector2/args.yaml @@ -0,0 +1,107 @@ +task: detect +mode: train +model: yolov8n.pt +data: yolo_dataset/dataset.yaml +epochs: 50 +time: null +patience: 5 +batch: 16 +imgsz: +- 80 +- 60 +save: true +save_period: -1 +cache: false +device: '0' +workers: 8 +project: yolo_training +name: NAO_detector2 +exist_ok: false +pretrained: true +optimizer: auto +verbose: true +seed: 0 +deterministic: true +single_cls: false +rect: false +cos_lr: false +close_mosaic: 10 +resume: false +amp: true +fraction: 1.0 +profile: false +freeze: null +multi_scale: false +overlap_mask: true +mask_ratio: 4 +dropout: 0.0 +val: true +split: val +save_json: false +conf: null +iou: 0.7 +max_det: 300 +half: false +dnn: false +plots: true +source: null +vid_stride: 1 +stream_buffer: false +visualize: false +augment: false +agnostic_nms: false +classes: null +retina_masks: false +embed: null +show: false +save_frames: false +save_txt: false +save_conf: false +save_crop: false +show_labels: true +show_conf: true +show_boxes: true +line_width: null +format: torchscript +keras: false +optimize: false +int8: false +dynamic: false +simplify: true +opset: null +workspace: null +nms: false +lr0: 0.01 +lrf: 0.01 +momentum: 0.937 +weight_decay: 0.0005 +warmup_epochs: 3.0 +warmup_momentum: 0.8 +warmup_bias_lr: 0.1 +box: 7.5 +cls: 0.5 +dfl: 1.5 +pose: 12.0 +kobj: 1.0 +nbs: 64 +hsv_h: 0.015 +hsv_s: 0.7 +hsv_v: 0.4 +degrees: 0.0 +translate: 0.1 +scale: 0.5 +shear: 0.0 +perspective: 0.0 +flipud: 0.0 +fliplr: 0.5 +bgr: 0.0 +mosaic: 1.0 +mixup: 0.0 +cutmix: 0.0 +copy_paste: 0.0 +copy_paste_mode: flip +auto_augment: randaugment +erasing: 0.4 +cfg: null +tracker: botsort.yaml +save_dir: yolo_training/NAO_detector2 diff --git a/yolo_training/NAO_detector2/labels.jpg b/yolo_training/NAO_detector2/labels.jpg new file mode 100644 index 0000000..e352e9b Binary files /dev/null and b/yolo_training/NAO_detector2/labels.jpg differ diff --git a/yolo_training/NAO_detector2/results.csv b/yolo_training/NAO_detector2/results.csv new file mode 100644 index 0000000..4e56190 --- /dev/null +++ b/yolo_training/NAO_detector2/results.csv @@ -0,0 +1,10 @@ +epoch,time,train/box_loss,train/cls_loss,train/dfl_loss,metrics/precision(B),metrics/recall(B),metrics/mAP50(B),metrics/mAP50-95(B),val/box_loss,val/cls_loss,val/dfl_loss,lr/pg0,lr/pg1,lr/pg2 +1,24.9125,2.15409,2.10792,1.24391,0.70243,0.4878,0.62258,0.37583,1.54244,1.4288,1.21992,0.000661064,0.000661064,0.000661064 +2,44.9091,1.91187,1.19581,1.12279,0.49108,0.63415,0.60834,0.32513,1.60866,1.27692,1.43341,0.00130144,0.00130144,0.00130144 +3,64.026,1.83625,1.09237,1.10677,0.59025,0.65854,0.64126,0.31251,1.64287,1.30798,1.50193,0.00191542,0.00191542,0.00191542 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a/yolo_training/NAO_detector2/train_batch1.jpg b/yolo_training/NAO_detector2/train_batch1.jpg new file mode 100644 index 0000000..fd253d8 Binary files /dev/null and b/yolo_training/NAO_detector2/train_batch1.jpg differ diff --git a/yolo_training/NAO_detector2/train_batch2.jpg b/yolo_training/NAO_detector2/train_batch2.jpg new file mode 100644 index 0000000..b6edbd6 Binary files /dev/null and b/yolo_training/NAO_detector2/train_batch2.jpg differ diff --git a/yolo_training/NAO_detector2/weights/best.pt b/yolo_training/NAO_detector2/weights/best.pt new file mode 100644 index 0000000..62d3846 Binary files /dev/null and b/yolo_training/NAO_detector2/weights/best.pt differ diff --git a/yolo_training/NAO_detector2/weights/last.pt b/yolo_training/NAO_detector2/weights/last.pt new file mode 100644 index 0000000..c4b41a7 Binary files /dev/null and b/yolo_training/NAO_detector2/weights/last.pt differ diff --git a/yolo_training/NAO_detector3/F1_curve.png b/yolo_training/NAO_detector3/F1_curve.png new file mode 100644 index 0000000..e9205d1 Binary files /dev/null and b/yolo_training/NAO_detector3/F1_curve.png differ diff --git a/yolo_training/NAO_detector3/PR_curve.png b/yolo_training/NAO_detector3/PR_curve.png new file mode 100644 index 0000000..d6bde99 Binary files /dev/null and b/yolo_training/NAO_detector3/PR_curve.png differ diff --git a/yolo_training/NAO_detector3/P_curve.png b/yolo_training/NAO_detector3/P_curve.png new file mode 100644 index 0000000..3645e99 Binary files /dev/null and b/yolo_training/NAO_detector3/P_curve.png differ diff --git a/yolo_training/NAO_detector3/R_curve.png b/yolo_training/NAO_detector3/R_curve.png new file mode 100644 index 0000000..991bf46 Binary files /dev/null and b/yolo_training/NAO_detector3/R_curve.png differ diff --git a/yolo_training/NAO_detector3/args.yaml b/yolo_training/NAO_detector3/args.yaml new file mode 100644 index 0000000..4ec03d5 --- /dev/null +++ b/yolo_training/NAO_detector3/args.yaml @@ -0,0 +1,107 @@ +task: detect +mode: train +model: yolov8n.pt +data: yolo_dataset/dataset.yaml +epochs: 50 +time: null +patience: 5 +batch: 16 +imgsz: +- 80 +- 60 +save: true +save_period: -1 +cache: false +device: '0' +workers: 8 +project: yolo_training +name: NAO_detector3 +exist_ok: false +pretrained: true +optimizer: auto +verbose: true +seed: 0 +deterministic: true +single_cls: false +rect: false +cos_lr: false +close_mosaic: 10 +resume: false +amp: true +fraction: 1.0 +profile: false +freeze: null +multi_scale: false +overlap_mask: true +mask_ratio: 4 +dropout: 0.0 +val: true +split: val +save_json: false +conf: null +iou: 0.7 +max_det: 300 +half: false +dnn: false +plots: true +source: null +vid_stride: 1 +stream_buffer: false +visualize: false +augment: false +agnostic_nms: false +classes: null +retina_masks: false +embed: null +show: false +save_frames: false +save_txt: false +save_conf: false +save_crop: false +show_labels: true +show_conf: true +show_boxes: true +line_width: null +format: torchscript +keras: false +optimize: false +int8: false +dynamic: false +simplify: true +opset: null +workspace: null +nms: false +lr0: 0.01 +lrf: 0.01 +momentum: 0.937 +weight_decay: 0.0005 +warmup_epochs: 3.0 +warmup_momentum: 0.8 +warmup_bias_lr: 0.1 +box: 7.5 +cls: 0.5 +dfl: 1.5 +pose: 12.0 +kobj: 1.0 +nbs: 64 +hsv_h: 0.015 +hsv_s: 0.7 +hsv_v: 0.4 +degrees: 0.0 +translate: 0.1 +scale: 0.5 +shear: 0.0 +perspective: 0.0 +flipud: 0.0 +fliplr: 0.5 +bgr: 0.0 +mosaic: 1.0 +mixup: 0.0 +cutmix: 0.0 +copy_paste: 0.0 +copy_paste_mode: flip +auto_augment: randaugment +erasing: 0.4 +cfg: null +tracker: botsort.yaml +save_dir: yolo_training/NAO_detector3 diff --git a/yolo_training/NAO_detector3/confusion_matrix.png b/yolo_training/NAO_detector3/confusion_matrix.png new file mode 100644 index 0000000..d8673f5 Binary files /dev/null and b/yolo_training/NAO_detector3/confusion_matrix.png differ diff --git a/yolo_training/NAO_detector3/confusion_matrix_normalized.png b/yolo_training/NAO_detector3/confusion_matrix_normalized.png new file mode 100644 index 0000000..ca0d51c Binary files /dev/null and b/yolo_training/NAO_detector3/confusion_matrix_normalized.png differ diff --git a/yolo_training/NAO_detector3/labels.jpg b/yolo_training/NAO_detector3/labels.jpg new file mode 100644 index 0000000..e352e9b Binary files /dev/null and b/yolo_training/NAO_detector3/labels.jpg differ diff --git a/yolo_training/NAO_detector3/results.csv b/yolo_training/NAO_detector3/results.csv new file mode 100644 index 0000000..1f3e264 --- /dev/null +++ b/yolo_training/NAO_detector3/results.csv @@ -0,0 +1,13 @@ +epoch,time,train/box_loss,train/cls_loss,train/dfl_loss,metrics/precision(B),metrics/recall(B),metrics/mAP50(B),metrics/mAP50-95(B),val/box_loss,val/cls_loss,val/dfl_loss,lr/pg0,lr/pg1,lr/pg2 +1,29.4662,2.15409,2.10792,1.24391,0.70243,0.4878,0.62258,0.37583,1.54244,1.4288,1.21992,0.000661064,0.000661064,0.000661064 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+ int8: false + dynamic: false + nms: false +channels: 3 diff --git a/yolo_training/NAO_detector3/weights/best_saved_model/best_float16.tflite b/yolo_training/NAO_detector3/weights/best_saved_model/best_float16.tflite new file mode 100644 index 0000000..176311c Binary files /dev/null and b/yolo_training/NAO_detector3/weights/best_saved_model/best_float16.tflite differ diff --git a/yolo_training/NAO_detector3/weights/best_saved_model/best_float32.tflite b/yolo_training/NAO_detector3/weights/best_saved_model/best_float32.tflite new file mode 100644 index 0000000..f4fe019 Binary files /dev/null and b/yolo_training/NAO_detector3/weights/best_saved_model/best_float32.tflite differ diff --git a/yolo_training/NAO_detector3/weights/best_saved_model/fingerprint.pb b/yolo_training/NAO_detector3/weights/best_saved_model/fingerprint.pb new file mode 100644 index 0000000..de9934e --- /dev/null +++ b/yolo_training/NAO_detector3/weights/best_saved_model/fingerprint.pb @@ -0,0 +1 @@ +ͦΰf駵킑ËJ ߕ(2:11516240603058020176 \ No newline at end of file diff --git a/yolo_training/NAO_detector3/weights/best_saved_model/metadata.yaml b/yolo_training/NAO_detector3/weights/best_saved_model/metadata.yaml new file mode 100644 index 0000000..ad3fcc3 --- /dev/null +++ b/yolo_training/NAO_detector3/weights/best_saved_model/metadata.yaml @@ -0,0 +1,21 @@ +description: Ultralytics best model trained on yolo_dataset/dataset.yaml +author: Ultralytics +date: '2025-08-11T23:12:31.669237' +version: 8.3.154 +license: AGPL-3.0 License (https://ultralytics.com/license) +docs: https://docs.ultralytics.com +stride: 32 +task: detect +batch: 1 +imgsz: +- 96 +- 64 +names: + 0: NAO-Roboter +args: + batch: 1 + fraction: 1.0 + half: false + int8: false + nms: false +channels: 3 diff --git a/yolo_training/NAO_detector3/weights/best_saved_model/saved_model.pb b/yolo_training/NAO_detector3/weights/best_saved_model/saved_model.pb new file mode 100644 index 0000000..61c0ec0 Binary files /dev/null and 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