RF-DETR Nano Finetuned on VisDrone-DET

Fine-tuned RF-DETR Nano object detector on the VisDrone-DET benchmark dataset, trained and evaluated as part of DetectionBench -- a framework for reproducibly benchmarking modern object detectors with identical training recipes and evaluation metrics across multiple real-world datasets.

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Usage

Install Dependencies

pip install rfdetr huggingface_hub

Load Model from Hugging Face

from huggingface_hub import hf_hub_download
import rfdetr

weights = hf_hub_download(
    repo_id="dronefreak/visdrone-rfdetr-nano",
    filename="checkpoint_best_total.pth"
)

model = rfdetr.RFDETRNano(pretrain_weights=weights)

Run Inference

detections = model.predict("image.jpg", threshold=0.25)

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Performance

Evaluated on the VisDrone-DET test split, using DetectionBench's standard evaluation pipeline (detectionbench-evaluate).

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VisDrone-DET Model Zoo

Every model DetectionBench has trained and evaluated on VisDrone-DET so far, for full transparency -- see DetectionBench for the smaller, curated comparison set used on the project README.

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Per-Class Performance

This model was evaluated with Supervision's detection metrics, which report mAP/Precision/Recall directly but don't produce a confusion-matrix plot the way Ultralytics' validator does.

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Dataset

This model was trained on VisDrone-DET. For the full dataset description, provenance, license, and citation, see the dataset card:

https://huggingface.co/datasets/Voxel51/VisDrone2019-DET

Classes

• pedestrian
• people
• bicycle
• car
• van
• truck
• tricycle
• awning-tricycle
• bus
• motor
• others

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Training Configuration

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Repository Contents

checkpoint_best_total.pth
metrics.csv
config.json
visdrone_rfdetr-nano_showcase.jpg
assets/demo_banner.mp4
assets/demo_banner_poster.jpg
README.md

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Related Resources

• VisDrone-DET dataset card on Hugging Face
• DetectionBench -- reproducible benchmarks for modern object detectors on real-world datasets

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Training Framework

This model was trained using DetectionBench, an open-source framework for benchmarking object detectors across multiple real-world datasets with a common pipeline.

Features include:

• A dataset-adapter registry for converting real-world datasets into a canonical format
• Identical training/evaluation recipes across model families (Ultralytics YOLO/RT-DETR, RF-DETR)
• Hardware profiling (latency, FPS, VRAM, parameters, FLOPs)
• One-command reproducibility via versioned Hydra configs

If you find this model useful, please consider starring the repository.

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Known Limitations

• Severe class imbalance: car (42.21%) and pedestrian (23.12%) account for two-thirds of all annotated boxes in the training set, while awning-tricycle (0.95%) and tricycle (1.40%) are rare -- the others class has zero annotated instances in the training set entirely and is effectively unusable (always 0 AP).
• Extreme small-object density: ~53 annotated boxes per image on average, with roughly 69% of boxes covering under 0.1% of the image area -- consistent with VisDrone's aerial small-object detection challenge (objects captured from significant altitude).
• The original authors license VisDrone under CC BY-NC-SA 3.0 -- non-commercial research use only (see the dataset's homepage); this applies to any model trained on it, not only the raw images.
• These RF-DETR checkpoints were trained/evaluated directly through DetectionBench. The YOLO/RT-DETR rows in the External VisDrone Model Zoo comparison below were trained via a separate companion codebase, not reproduced inside DetectionBench -- see that collection for their own training details and caveats.

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Citation

If you use this model in your research, please consider citing the dataset and the model architecture:

@article{zhu2018vision,
  title={Vision meets drones: A challenge},
  author={Zhu, Pengfei and Wen, Longyin and Bian, Xiao and Ling, Haibin and Hu, Qinghua},
  journal={arXiv preprint arXiv:1804.07437},
  year={2018}
}

@inproceedings{robinson2026rfdetr,
  title     = {RF-DETR: Real-Time Detection Transformer},
  author    = {Robinson, Isaac and Robicheaux, Peter and Popov, Matvei and Ramanan, Deva and Peri, Neehar},
  booktitle = {International Conference on Learning Representations (ICLR)},
  year      = {2026},
  url       = {https://arxiv.org/abs/2511.09554}
}

@article{oquab2023dinov2,
  title={DINOv2: Learning Robust Visual Features without Supervision},
  author={Oquab, Maxime and Darcet, Timoth{\'e}e and Moutakanni, Theo and Vo, Huy and Szafraniec, Marc and Khalidov, Vasil and Fernandez, Pierre and Haziza, Daniel and Massa, Francisco and El-Nouby, Alaaeldin and others},
  journal={arXiv preprint arXiv:2304.07193},
  year={2023}
}