review-artifacts/nsdl-detector-viki20

NSDL detector, VIKI (20 classes): anonymized detector for double-anonymous review

The detect tool detector behind "every VIKI-L2 tool-taking row (Tables 1 and 3)". YOLO26-L (Ultralytics 8.4.33, AGPL-3.0), initialised from COCO weights and fine-tuned on the official VIKI-L2 train split only (900 images; 6 robot classes + 14 object/fixture classes). 20 classes: fetch, stompy, unitreeh1, panda, unitreego2, anymalc, apple, banana, bowl, bread, cabinet, knife, peach, pear, plate, sink, table, toaster, tomato, woodencutting_board.

Inference settings used in the paper: imgsz 960, conf 0.25, IoU 0.70, max_det 64. Place the file at checkpoints/best.pt in the anonymized code repository. Optimizer state and training paths have been removed; the network is the EMA used for evaluation. Derived from Ultralytics YOLO26 and therefore released under AGPL-3.0, for research use during review.