This release incorporates many new features and bug fixes (271 PRs from 48 contributors) since our last release in October 2021. It adds TensorRT, Edge TPU and OpenVINO support, and provides retrained models at --batch-size 128 with new default one-cycle linear LR scheduler. YOLOv5 now officially supports 11 different formats, not just for export but for inference (both detect.py and PyTorch Hub), and validation to profile mAP and speed results after export.

Format | export.py --include | Model :--- | --: | :-- PyTorch | - | yolov5s.pt TorchScript | torchscript | yolov5s.torchscript ONNX | onnx | yolov5s.onnx OpenVINO | openvino | yolov5s_openvino_model/ TensorRT | engine | yolov5s.engine CoreML | coreml | yolov5s.mlmodel TensorFlow SavedModel | saved_model | yolov5s_saved_model/ TensorFlow GraphDef | pb | yolov5s.pb TensorFlow Lite | tflite | yolov5s.tflite TensorFlow Edge TPU | edgetpu | yolov5s_edgetpu.tflite TensorFlow.js | tfjs | yolov5s_web_model/

Usage examples (ONNX shown):

Export:          python export.py --weights yolov5s.pt --include onnx
Detect:          python detect.py --weights yolov5s.onnx
PyTorch Hub:     model = torch.hub.load('ultralytics/yolov5', 'custom', 'yolov5s.onnx')
Validate:        python val.py --weights yolov5s.onnx
Visualize:       https://netron.app

Important Updates

• TensorRT support: TensorFlow, Keras, TFLite, TF.js model export now fully integrated using python export.py --include saved_model pb tflite tfjs (https://github.com/ultralytics/yolov5/pull/5699 by @imyhxy)
• Tensorflow Edge TPU support ⭐ NEW: New smaller YOLOv5n (1.9M params) model below YOLOv5s (7.5M params), exports to 2.1 MB INT8 size, ideal for ultralight mobile solutions. (https://github.com/ultralytics/yolov5/pull/3630 by @zldrobit)
• OpenVINO support: YOLOv5 ONNX models are now compatible with both OpenCV DNN and ONNX Runtime (https://github.com/ultralytics/yolov5/pull/6057 by @glenn-jocher).
• Export Benchmarks: Benchmark (mAP and speed) all YOLOv5 export formats with python utils/benchmarks.py --weights yolov5s.pt. Currently operates on CPU, future updates will implement GPU support. (https://github.com/ultralytics/yolov5/pull/6613 by @glenn-jocher).
• Architecture: no changes
• Hyperparameters: minor change
  • hyp-scratch-large.yaml lrf reduced from 0.2 to 0.1 (https://github.com/ultralytics/yolov5/pull/6525 by @glenn-jocher).
• Training: Default Learning Rate (LR) scheduler updated
  • One-cycle with cosine replace with one-cycle linear for improved results (https://github.com/ultralytics/yolov5/pull/6729 by @glenn-jocher).

New Results

All model trainings logged to https://wandb.ai/glenn-jocher/YOLOv5_v61_official

Example YOLOv5l before and after metrics:

|YOLOv5l
^{Large|size
(pixels) |mAPval
0.5:0.95 |mAPval
0.5 |Speed
CPU b1
(ms) |Speed
V100 b1
(ms) |Speed
V100 b32
(ms) |params
(M) |FLOPs
@640 (B) --- |--- |--- |--- |--- |--- |--- |--- |--- v5.0 |640 |48.2 |66.9 |457.9 |11.6 |2.8 |47.0 |115.4 v6.0 (previous) |640 |48.8 |67.2 |424.5 |10.9|2.7 |46.5 |109.1 v6.1 (this release) |640 |49.0 |67.3 |430.0 |10.1|2.7 |46.5 |109.1}

Pretrained Checkpoints

|Model |size
<sup>(pixels) |mAPval
0.5:0.95 |mAPval
0.5 |Speed
CPU b1
(ms) |Speed
V100 b1
(ms) |Speed
V100 b32
(ms) |params
(M) |FLOPs
@640 (B) |--- |--- |--- |--- |--- |--- |--- |--- |--- |YOLOv5n |640 |28.0 |45.7 |45 |6.3|0.6|1.9|4.5 |YOLOv5s |640 |37.4 |56.8 |98 |6.4 |0.9 |7.2 |16.5 |YOLOv5m |640 |45.4 |64.1 |224 |8.2 |1.7 |21.2 |49.0 |YOLOv5l |640 |49.0 |67.3 |430 |10.1 |2.7 |46.5 |109.1 |YOLOv5x |640 |50.7 |68.9 |766 |12.1 |4.8 |86.7 |205.7 | | | | | | | | | |YOLOv5n6 |1280 |36.0 |54.4 |153 |8.1 |2.1 |3.2 |4.6 |YOLOv5s6 |1280 |44.8 |63.7 |385 |8.2 |3.6 |12.6 |16.8 |YOLOv5m6 |1280 |51.3 |69.3 |887 |11.1 |6.8 |35.7 |50.0 |YOLOv5l6 |1280 |53.7 |71.3 |1784 |15.8 |10.5 |76.8 |111.4 |YOLOv5x6
+ TTA|1280
1536 |55.0
55.8 |72.7
72.7 |3136
- |26.2
- |19.4
- |140.7
- |209.8
-</sup>

Changelog

Changes between previous release and this release: https://github.com/ultralytics/yolov5/compare/v6.0...v6.1 Changes since this release: https://github.com/ultralytics/yolov5/compare/v6.1...HEAD

Full Changelog: https://github.com/ultralytics/yolov5/compare/v6.0...v6.1