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--> [Submitted on 23 Aug 2026] Title:Cross-Generation Optimization of YOLOv26, YOLOv11, and YOLOv8 for Fine-Grained Small-Object Detection and Instance Segmentation in Complex Orchards View a PDF of the paper titled Cross-Generation Optimization of YOLOv26, YOLOv11, and YOLOv8 for Fine-Grained Small-Object Detection and Instance Segmentation in Complex Orchards, by Ranjan Sapkota and 1 other authors View PDF HTML (experimental) Abstract:Small-object detection and instance segmentation remain challenging in orchard environments because of green-on-green similarity, occlusion, and limited pixel representation of fine fruit anatomy. This study presents a cross-generation benchmark of Ultralytics YOLOv8, YOLOv11, and YOLOv26 for detecting and segmenting apple fruitlet, calyx, and peduncle structures for robotic orchard perception. Five model scales (n, s, m, l, and x) were evaluated under conventional 640 x 640 and small-object focused 960 x 960 training configurations, yielding 30 experiments. Increasing model capacity did not consistently improve accuracy. YOLOv11s-960 achieved the highest observed mask mAP@50:95 (0.402) and box mAP@50:95 (0.426), while YOLOv26s-960 achieved comparable values of 0.397 and 0.425 with only 10.37 M parameters and 34.1 GFLOPs. Peduncle remained the most challenging class. Overall, compact-to-moderate YOLO models with small-object-focused training provided favorable accuracy efficiency trade-offs, establishing a practical benchmark for fine-grained agricultural robotics and orchard perception. Github Link: this https URL Subjects: Computer Vision and Pattern Recognition (cs.CV) Cite as: arXiv:2608.23636 [cs.CV] (or arXiv:2608.23636v1 [cs.CV] for this version) https://doi.org/10.48550/arXiv.2608.23636 arXiv-issued DOI via DataCite Submission history From: Ranjan Sapkota [view email] [v1] Sun, 23 Aug 2026 17:00:22 UTC (13,915 KB) Full-text links: Access Paper: View a PDF of the paper titled Cross-Generation Optimization of YOLOv26, YOLOv11, and YOLOv8 for Fine-Grained Small-Object Detection and Instance Segmentation in Complex Orchards, by Ranjan Sapkota and 1 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.CV new | recent | 2026-08 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)