diff --git a/.gitignore b/.gitignore
index b94c9dc..6e8ba6a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -113,3 +113,4 @@ dmypy.json
 
 runs/
 Test/
+yolo_dataset/
\ No newline at end of file
diff --git a/Readme.md b/Readme.md
new file mode 100644
index 0000000..95ef0f7
--- /dev/null
+++ b/Readme.md
@@ -0,0 +1,3 @@
+# Nao Robotererkennung
+
+Trainingsdaten auf der Nextcloud
\ No newline at end of file
diff --git a/yolo_dataset/train/labels.cache b/yolo_dataset/train/labels.cache
index c8d6d48..0abc1b7 100644
Binary files a/yolo_dataset/train/labels.cache and b/yolo_dataset/train/labels.cache differ
diff --git a/yolo_training/NAO_detector/F1_curve.png b/yolo_training/NAO_detector/F1_curve.png
new file mode 100644
index 0000000..d95a5eb
Binary files /dev/null and b/yolo_training/NAO_detector/F1_curve.png differ
diff --git a/yolo_training/NAO_detector/PR_curve.png b/yolo_training/NAO_detector/PR_curve.png
new file mode 100644
index 0000000..3248e80
Binary files /dev/null and b/yolo_training/NAO_detector/PR_curve.png differ
diff --git a/yolo_training/NAO_detector/P_curve.png b/yolo_training/NAO_detector/P_curve.png
new file mode 100644
index 0000000..0535b5b
Binary files /dev/null and b/yolo_training/NAO_detector/P_curve.png differ
diff --git a/yolo_training/NAO_detector/R_curve.png b/yolo_training/NAO_detector/R_curve.png
new file mode 100644
index 0000000..ec1eec2
Binary files /dev/null and b/yolo_training/NAO_detector/R_curve.png differ
diff --git a/yolo_training/NAO_detector/args.yaml b/yolo_training/NAO_detector/args.yaml
index f0dc65c..2508d19 100644
--- a/yolo_training/NAO_detector/args.yaml
+++ b/yolo_training/NAO_detector/args.yaml
@@ -10,7 +10,7 @@ imgsz: 640
 save: true
 save_period: -1
 cache: false
-device: cpu
+device: '0'
 workers: 8
 project: yolo_training
 name: NAO_detector
diff --git a/yolo_training/NAO_detector/confusion_matrix.png b/yolo_training/NAO_detector/confusion_matrix.png
new file mode 100644
index 0000000..20059e5
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diff --git a/yolo_training/NAO_detector/confusion_matrix_normalized.png b/yolo_training/NAO_detector/confusion_matrix_normalized.png
new file mode 100644
index 0000000..ed7c9ac
Binary files /dev/null and b/yolo_training/NAO_detector/confusion_matrix_normalized.png differ
diff --git a/yolo_training/NAO_detector/labels.jpg b/yolo_training/NAO_detector/labels.jpg
index a290cc9..1e840d6 100644
Binary files a/yolo_training/NAO_detector/labels.jpg and b/yolo_training/NAO_detector/labels.jpg differ
diff --git a/yolo_training/NAO_detector/labels_correlogram.jpg b/yolo_training/NAO_detector/labels_correlogram.jpg
deleted file mode 100644
index bcfef65..0000000
Binary files a/yolo_training/NAO_detector/labels_correlogram.jpg and /dev/null differ
diff --git a/yolo_training/NAO_detector/results.csv b/yolo_training/NAO_detector/results.csv
index 5e14ac0..3df9927 100644
--- a/yolo_training/NAO_detector/results.csv
+++ b/yolo_training/NAO_detector/results.csv
@@ -1,2 +1,25 @@
 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
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diff --git a/yolo_training/NAO_detector20/val_batch0_labels.jpg b/yolo_training/NAO_detector/val_batch0_labels.jpg
similarity index 100%
rename from yolo_training/NAO_detector20/val_batch0_labels.jpg
rename to yolo_training/NAO_detector/val_batch0_labels.jpg
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diff --git a/yolo_training/NAO_detector20/val_batch1_labels.jpg b/yolo_training/NAO_detector/val_batch1_labels.jpg
similarity index 100%
rename from yolo_training/NAO_detector20/val_batch1_labels.jpg
rename to yolo_training/NAO_detector/val_batch1_labels.jpg
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new file mode 100644
index 0000000..8634d8c
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diff --git a/yolo_training/NAO_detector20/weights/best.onnx b/yolo_training/NAO_detector/weights/best.onnx
similarity index 60%
rename from yolo_training/NAO_detector20/weights/best.onnx
rename to yolo_training/NAO_detector/weights/best.onnx
index 02ca459..154a303 100644
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diff --git a/yolo_training/NAO_detector/weights/best.pt b/yolo_training/NAO_detector/weights/best.pt
index 6530378..7086284 100644
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diff --git a/yolo_training/NAO_detector20/weights/best_openvino_model/best.bin b/yolo_training/NAO_detector/weights/best_openvino_model/best.bin
similarity index 59%
rename from yolo_training/NAO_detector20/weights/best_openvino_model/best.bin
rename to yolo_training/NAO_detector/weights/best_openvino_model/best.bin
index ebf5086..f11a316 100644
Binary files a/yolo_training/NAO_detector20/weights/best_openvino_model/best.bin and b/yolo_training/NAO_detector/weights/best_openvino_model/best.bin differ
diff --git a/yolo_training/NAO_detector20/weights/best_openvino_model/best.xml b/yolo_training/NAO_detector/weights/best_openvino_model/best.xml
similarity index 100%
rename from yolo_training/NAO_detector20/weights/best_openvino_model/best.xml
rename to yolo_training/NAO_detector/weights/best_openvino_model/best.xml
diff --git a/yolo_training/NAO_detector20/weights/best_openvino_model/metadata.yaml b/yolo_training/NAO_detector/weights/best_openvino_model/metadata.yaml
similarity index 91%
rename from yolo_training/NAO_detector20/weights/best_openvino_model/metadata.yaml
rename to yolo_training/NAO_detector/weights/best_openvino_model/metadata.yaml
index 3ab3065..3effc18 100644
--- a/yolo_training/NAO_detector20/weights/best_openvino_model/metadata.yaml
+++ b/yolo_training/NAO_detector/weights/best_openvino_model/metadata.yaml
@@ -1,6 +1,6 @@
 description: Ultralytics best model trained on yolo_dataset\dataset.yaml
 author: Ultralytics
-date: '2025-05-30T16:19:53.376545'
+date: '2025-06-02T11:00:39.061455'
 version: 8.3.146
 license: AGPL-3.0 License (https://ultralytics.com/license)
 docs: https://docs.ultralytics.com
diff --git a/yolo_training/NAO_detector/weights/last.pt b/yolo_training/NAO_detector/weights/last.pt
index 6530378..e64d467 100644
Binary files a/yolo_training/NAO_detector/weights/last.pt and b/yolo_training/NAO_detector/weights/last.pt differ
diff --git a/yolo_training/NAO_detector10/args.yaml b/yolo_training/NAO_detector10/args.yaml
deleted file mode 100644
index 7642af2..0000000
--- a/yolo_training/NAO_detector10/args.yaml
+++ /dev/null
@@ -1,105 +0,0 @@
-task: detect
-mode: train
-model: yolov8n.pt
-data: yolo_dataset\dataset.yaml
-epochs: 50
-time: null
-patience: 5
-batch: 16
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-save: true
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-project: yolo_training
-name: NAO_detector10
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-cfg: null
-tracker: botsort.yaml
-save_dir: yolo_training\NAO_detector10
diff --git a/yolo_training/NAO_detector10/labels.jpg b/yolo_training/NAO_detector10/labels.jpg
deleted file mode 100644
index c534165..0000000
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diff --git a/yolo_training/NAO_detector11/args.yaml b/yolo_training/NAO_detector11/args.yaml
deleted file mode 100644
index cadc5a6..0000000
--- a/yolo_training/NAO_detector11/args.yaml
+++ /dev/null
@@ -1,105 +0,0 @@
-task: detect
-mode: train
-model: yolov8n.pt
-data: yolo_dataset\dataset.yaml
-epochs: 50
-time: null
-patience: 5
-batch: 16
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diff --git a/yolo_training/NAO_detector12/args.yaml b/yolo_training/NAO_detector12/args.yaml
deleted file mode 100644
index 92c1681..0000000
--- a/yolo_training/NAO_detector12/args.yaml
+++ /dev/null
@@ -1,105 +0,0 @@
-task: detect
-mode: train
-model: yolov8n.pt
-data: yolo_dataset\dataset.yaml
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-time: null
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-tracker: botsort.yaml
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diff --git a/yolo_training/NAO_detector13/args.yaml b/yolo_training/NAO_detector13/args.yaml
deleted file mode 100644
index 87a93ec..0000000
--- a/yolo_training/NAO_detector13/args.yaml
+++ /dev/null
@@ -1,105 +0,0 @@
-task: detect
-mode: train
-model: yolov8n.pt
-data: yolo_dataset\dataset.yaml
-epochs: 50
-time: null
-patience: 5
-batch: 16
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-save: true
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deleted file mode 100644
index 7cd6705..0000000
--- a/yolo_training/NAO_detector14/args.yaml
+++ /dev/null
@@ -1,105 +0,0 @@
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deleted file mode 100644
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deleted file mode 100644
index ffd1506..0000000
--- a/yolo_training/NAO_detector15/args.yaml
+++ /dev/null
@@ -1,105 +0,0 @@
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deleted file mode 100644
index 39e521d..0000000
--- a/yolo_training/NAO_detector16/args.yaml
+++ /dev/null
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deleted file mode 100644
index f5c730f..0000000
--- a/yolo_training/NAO_detector17/args.yaml
+++ /dev/null
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deleted file mode 100644
index df1999d..0000000
--- a/yolo_training/NAO_detector18/args.yaml
+++ /dev/null
@@ -1,105 +0,0 @@
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deleted file mode 100644
index 5047d44..0000000
--- a/yolo_training/NAO_detector19/args.yaml
+++ /dev/null
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deleted file mode 100644
index d38cbf2..0000000
--- a/yolo_training/NAO_detector2/args.yaml
+++ /dev/null
@@ -1,105 +0,0 @@
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index a290cc9..0000000
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deleted file mode 100644
index e73c460..0000000
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deleted file mode 100644
index 7a3ecdc..0000000
--- a/yolo_training/NAO_detector20/results.csv
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deleted file mode 100644
index 15e6c01..0000000
--- a/yolo_training/NAO_detector3/args.yaml
+++ /dev/null
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deleted file mode 100644
index 9a4dc2d..0000000
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deleted file mode 100644
index f869105..0000000
--- a/yolo_training/NAO_detector4/args.yaml
+++ /dev/null
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diff --git a/yolo_training/NAO_detector5/args.yaml b/yolo_training/NAO_detector5/args.yaml
deleted file mode 100644
index 5b32fe7..0000000
--- a/yolo_training/NAO_detector5/args.yaml
+++ /dev/null
@@ -1,105 +0,0 @@
-task: detect
-mode: train
-model: yolov8n.pt
-data: yolo_dataset/dataset.yaml
-epochs: 100
-time: null
-patience: 100
-batch: 16
-imgsz: 640
-save: true
-save_period: -1
-cache: false
-device: cpu
-workers: 8
-project: yolo_training
-name: NAO_detector5
-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_detector5
diff --git a/yolo_training/NAO_detector6/args.yaml b/yolo_training/NAO_detector6/args.yaml
deleted file mode 100644
index 5061dfd..0000000
--- a/yolo_training/NAO_detector6/args.yaml
+++ /dev/null
@@ -1,105 +0,0 @@
-task: detect
-mode: train
-model: yolov8n.pt
-data: yolo_dataset/dataset.yaml
-epochs: 100
-time: null
-patience: 100
-batch: 16
-imgsz: 640
-save: true
-save_period: -1
-cache: false
-device: cpu
-workers: 8
-project: yolo_training
-name: NAO_detector6
-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_detector6
diff --git a/yolo_training/NAO_detector7/args.yaml b/yolo_training/NAO_detector7/args.yaml
deleted file mode 100644
index 86d918a..0000000
--- a/yolo_training/NAO_detector7/args.yaml
+++ /dev/null
@@ -1,105 +0,0 @@
-task: detect
-mode: train
-model: yolov8n.pt
-data: yolo_dataset/dataset.yaml
-epochs: 100
-time: null
-patience: 100
-batch: 16
-imgsz: 640
-save: true
-save_period: -1
-cache: false
-device: cpu
-workers: 8
-project: yolo_training
-name: NAO_detector7
-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_detector7
diff --git a/yolo_training/NAO_detector8/args.yaml b/yolo_training/NAO_detector8/args.yaml
deleted file mode 100644
index 460f872..0000000
--- a/yolo_training/NAO_detector8/args.yaml
+++ /dev/null
@@ -1,105 +0,0 @@
-task: detect
-mode: train
-model: yolov8n.pt
-data: yolo_dataset\dataset.yaml
-epochs: 50
-time: null
-patience: 5
-batch: 16
-imgsz: 640
-save: true
-save_period: -1
-cache: false
-device: cpu
-workers: 8
-project: yolo_training
-name: NAO_detector8
-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
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-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_detector8
diff --git a/yolo_training/NAO_detector9/args.yaml b/yolo_training/NAO_detector9/args.yaml
deleted file mode 100644
index f87293b..0000000
--- a/yolo_training/NAO_detector9/args.yaml
+++ /dev/null
@@ -1,105 +0,0 @@
-task: detect
-mode: train
-model: yolov8n.pt
-data: yolo_dataset\dataset.yaml
-epochs: 50
-time: null
-patience: 5
-batch: 16
-imgsz: 640
-save: true
-save_period: -1
-cache: false
-device: cpu
-workers: 8
-project: yolo_training
-name: NAO_detector9
-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
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-lr0: 0.01
-lrf: 0.01
-momentum: 0.937
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-copy_paste_mode: flip
-auto_augment: randaugment
-erasing: 0.4
-cfg: null
-tracker: botsort.yaml
-save_dir: yolo_training\NAO_detector9