{"id":"https://openalex.org/W7154915770","doi":"https://doi.org/10.20965/jrm.2026.p0483","title":"Unified Optimization of YOLOX for Robust Small Object Detection in Real-Time Potato Harvesting","display_name":"Unified Optimization of YOLOX for Robust Small Object Detection in Real-Time Potato Harvesting","publication_year":2026,"publication_date":"2026-04-19","ids":{"openalex":"https://openalex.org/W7154915770","doi":"https://doi.org/10.20965/jrm.2026.p0483"},"language":"en","primary_location":{"id":"doi:10.20965/jrm.2026.p0483","is_oa":true,"landing_page_url":"https://doi.org/10.20965/jrm.2026.p0483","pdf_url":null,"source":{"id":"https://openalex.org/S2764886168","display_name":"Journal of Robotics and Mechatronics","issn_l":"0915-3942","issn":["0915-3942","1883-8049"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4324309662","host_organization_name":"Fuji Technology Press Ltd.","host_organization_lineage":["https://openalex.org/P4324309662"],"host_organization_lineage_names":["Fuji Technology Press Ltd."],"type":"journal"},"license":"cc-by-nd","license_id":"https://openalex.org/licenses/cc-by-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics and Mechatronics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://doi.org/10.20965/jrm.2026.p0483","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5089723348","display_name":"Joonam Kim","orcid":"https://orcid.org/0000-0002-1498-8326"},"institutions":[{"id":"https://openalex.org/I1323638106","display_name":"National Agriculture and Food Research Organization","ror":"https://ror.org/023v4bd62","country_code":"JP","type":"government","lineage":["https://openalex.org/I1323638106"]},{"id":"https://openalex.org/I4210142085","display_name":"Central Region Agricultural Research Center","ror":"https://ror.org/04pq1cd03","country_code":"JP","type":"facility","lineage":["https://openalex.org/I1323638106","https://openalex.org/I4210142085"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Joonam Kim","raw_affiliation_strings":["Research Center for Agricultural Robotics, National Agricultural and Food Research Organization, 2-1-12 Kannondai, Tsukuba, Ibaraki 305-8642, Japan"],"raw_orcid":"https://orcid.org/0000-0002-1498-8326","affiliations":[{"raw_affiliation_string":"Research Center for Agricultural Robotics, National Agricultural and Food Research Organization, 2-1-12 Kannondai, Tsukuba, Ibaraki 305-8642, Japan","institution_ids":["https://openalex.org/I1323638106","https://openalex.org/I4210142085"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102268228","display_name":"Kenichi Tokuda","orcid":"https://orcid.org/0000-0003-1696-3760"},"institutions":[{"id":"https://openalex.org/I1323638106","display_name":"National Agriculture and Food Research Organization","ror":"https://ror.org/023v4bd62","country_code":"JP","type":"government","lineage":["https://openalex.org/I1323638106"]},{"id":"https://openalex.org/I4210142085","display_name":"Central Region Agricultural Research Center","ror":"https://ror.org/04pq1cd03","country_code":"JP","type":"facility","lineage":["https://openalex.org/I1323638106","https://openalex.org/I4210142085"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenichi Tokuda","raw_affiliation_strings":["Research Center for Agricultural Robotics, National Agricultural and Food Research Organization, 2-1-12 Kannondai, Tsukuba, Ibaraki 305-8642, Japan"],"raw_orcid":"https://orcid.org/0000-0003-1696-3760","affiliations":[{"raw_affiliation_string":"Research Center for Agricultural Robotics, National Agricultural and Food Research Organization, 2-1-12 Kannondai, Tsukuba, Ibaraki 305-8642, Japan","institution_ids":["https://openalex.org/I1323638106","https://openalex.org/I4210142085"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017707888","display_name":"Giryeon Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I1323638106","display_name":"National Agriculture and Food Research Organization","ror":"https://ror.org/023v4bd62","country_code":"JP","type":"government","lineage":["https://openalex.org/I1323638106"]},{"id":"https://openalex.org/I4210142085","display_name":"Central Region Agricultural Research Center","ror":"https://ror.org/04pq1cd03","country_code":"JP","type":"facility","lineage":["https://openalex.org/I1323638106","https://openalex.org/I4210142085"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Giryeon Kim","raw_affiliation_strings":["Research Center for Agricultural Robotics, National Agricultural and Food Research Organization, 2-1-12 Kannondai, Tsukuba, Ibaraki 305-8642, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Research Center for Agricultural Robotics, National Agricultural and Food Research Organization, 2-1-12 Kannondai, Tsukuba, Ibaraki 305-8642, Japan","institution_ids":["https://openalex.org/I1323638106","https://openalex.org/I4210142085"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031954439","display_name":"Rena Yoshitoshi","orcid":"https://orcid.org/0000-0002-6589-4442"},"institutions":[{"id":"https://openalex.org/I1323638106","display_name":"National Agriculture and Food Research Organization","ror":"https://ror.org/023v4bd62","country_code":"JP","type":"government","lineage":["https://openalex.org/I1323638106"]},{"id":"https://openalex.org/I4210142085","display_name":"Central Region Agricultural Research Center","ror":"https://ror.org/04pq1cd03","country_code":"JP","type":"facility","lineage":["https://openalex.org/I1323638106","https://openalex.org/I4210142085"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Rena Yoshitoshi","raw_affiliation_strings":["Research Center for Agricultural Robotics, National Agricultural and Food Research Organization, 2-1-12 Kannondai, Tsukuba, Ibaraki 305-8642, Japan"],"raw_orcid":"https://orcid.org/0000-0002-6589-4442","affiliations":[{"raw_affiliation_string":"Research Center for Agricultural Robotics, National Agricultural and Food Research Organization, 2-1-12 Kannondai, Tsukuba, Ibaraki 305-8642, Japan","institution_ids":["https://openalex.org/I1323638106","https://openalex.org/I4210142085"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.57469462,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"38","issue":"2","first_page":"483","last_page":"494"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9674999713897705,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9674999713897705,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10640","display_name":"Spectroscopy and Chemometric Analyses","score":0.009800000116229057,"subfield":{"id":"https://openalex.org/subfields/1602","display_name":"Analytical Chemistry"},"field":{"id":"https://openalex.org/fields/16","display_name":"Chemistry"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11745","display_name":"Potato Plant Research","score":0.0034000000450760126,"subfield":{"id":"https://openalex.org/subfields/1106","display_name":"Food Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/object-detection","display_name":"Object detection","score":0.6347000002861023},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.6261000037193298},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.604200005531311},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.5690000057220459},{"id":"https://openalex.org/keywords/object","display_name":"Object (grammar)","score":0.5293999910354614},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.38690000772476196},{"id":"https://openalex.org/keywords/unified-model","display_name":"Unified Model","score":0.3538999855518341}],"concepts":[{"id":"https://openalex.org/C2776151529","wikidata":"https://www.wikidata.org/wiki/Q3045304","display_name":"Object detection","level":3,"score":0.6347000002861023},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.6261000037193298},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.604200005531311},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6007000207901001},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.5690000057220459},{"id":"https://openalex.org/C2781238097","wikidata":"https://www.wikidata.org/wiki/Q175026","display_name":"Object (grammar)","level":2,"score":0.5293999910354614},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45719999074935913},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.38690000772476196},{"id":"https://openalex.org/C45493050","wikidata":"https://www.wikidata.org/wiki/Q7884934","display_name":"Unified Model","level":2,"score":0.3538999855518341},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.34380000829696655},{"id":"https://openalex.org/C52622490","wikidata":"https://www.wikidata.org/wiki/Q1026626","display_name":"Feature extraction","level":2,"score":0.3249000012874603},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3192000091075897},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.3156999945640564},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.2985000014305115},{"id":"https://openalex.org/C81669768","wikidata":"https://www.wikidata.org/wiki/Q2359161","display_name":"Precision and recall","level":2,"score":0.296099990606308},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.2897999882698059},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.28349998593330383},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.26269999146461487},{"id":"https://openalex.org/C64876066","wikidata":"https://www.wikidata.org/wiki/Q5141226","display_name":"Cognitive neuroscience of visual object recognition","level":3,"score":0.2563999891281128},{"id":"https://openalex.org/C193254401","wikidata":"https://www.wikidata.org/wiki/Q2160088","display_name":"Robust optimization","level":2,"score":0.2524000108242035}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.20965/jrm.2026.p0483","is_oa":true,"landing_page_url":"https://doi.org/10.20965/jrm.2026.p0483","pdf_url":null,"source":{"id":"https://openalex.org/S2764886168","display_name":"Journal of Robotics and Mechatronics","issn_l":"0915-3942","issn":["0915-3942","1883-8049"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4324309662","host_organization_name":"Fuji Technology Press Ltd.","host_organization_lineage":["https://openalex.org/P4324309662"],"host_organization_lineage_names":["Fuji Technology Press Ltd."],"type":"journal"},"license":"cc-by-nd","license_id":"https://openalex.org/licenses/cc-by-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics and Mechatronics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.20965/jrm.2026.p0483","is_oa":true,"landing_page_url":"https://doi.org/10.20965/jrm.2026.p0483","pdf_url":null,"source":{"id":"https://openalex.org/S2764886168","display_name":"Journal of Robotics and Mechatronics","issn_l":"0915-3942","issn":["0915-3942","1883-8049"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4324309662","host_organization_name":"Fuji Technology Press Ltd.","host_organization_lineage":["https://openalex.org/P4324309662"],"host_organization_lineage_names":["Fuji Technology Press Ltd."],"type":"journal"},"license":"cc-by-nd","license_id":"https://openalex.org/licenses/cc-by-nd","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotics and Mechatronics","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/2","display_name":"Zero hunger","score":0.7570421099662781}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":47,"referenced_works":["https://openalex.org/W1861492603","https://openalex.org/W2031489346","https://openalex.org/W2752782242","https://openalex.org/W2886335102","https://openalex.org/W2936503027","https://openalex.org/W2963037989","https://openalex.org/W2976292222","https://openalex.org/W2982770724","https://openalex.org/W3008823600","https://openalex.org/W3156740949","https://openalex.org/W3167308647","https://openalex.org/W4211124550","https://openalex.org/W4281796415","https://openalex.org/W4295786880","https://openalex.org/W4296518597","https://openalex.org/W4309271403","https://openalex.org/W4313421210","https://openalex.org/W4383695095","https://openalex.org/W4388504728","https://openalex.org/W4388823657","https://openalex.org/W4389439905","https://openalex.org/W4390699418","https://openalex.org/W4391930351","https://openalex.org/W4392005878","https://openalex.org/W4392119583","https://openalex.org/W4393053243","https://openalex.org/W4394625884","https://openalex.org/W4395115198","https://openalex.org/W4398164007","https://openalex.org/W4401964588","https://openalex.org/W4402903532","https://openalex.org/W4403503438","https://openalex.org/W4403713243","https://openalex.org/W4404320609","https://openalex.org/W4405370196","https://openalex.org/W4406223118","https://openalex.org/W4406488712","https://openalex.org/W4406780167","https://openalex.org/W4406799038","https://openalex.org/W4406933890","https://openalex.org/W4407749006","https://openalex.org/W4408970854","https://openalex.org/W4409210855","https://openalex.org/W4411870275","https://openalex.org/W4412520115","https://openalex.org/W4412631798","https://openalex.org/W4414569922"],"related_works":[],"abstract_inverted_index":{"Automated":[0],"potato":[1,11],"harvesting":[2],"requires":[3],"vision":[4],"systems":[5],"meeting":[6],"stringent":[7],"operational":[8,78],"constraints:":[9],"near-zero":[10],"misclassification":[12],"(PMR":[13,114,124],"<1%)":[14],"and":[15,52,98,118],"high":[16],"impurity":[17],"detection":[18],"rate":[19],"(IDR":[20],">60%).":[21],"Although":[22],"YOLOX":[23],"supports":[24],"real-time":[25,136],"processing,":[26],"it":[27],"exhibits":[28],"critical":[29],"performance":[30,113],"limitations":[31],"for":[32,143],"small":[33,89],"object":[34,90],"detection.":[35],"This":[36],"paper":[37],"introduces":[38],"a":[39],"unified":[40],"optimization":[41,130],"strategy":[42],"combining":[43],"training-level":[44],"modifications":[45],"(P3":[46],"feature":[47,103],"enhancement,":[48],"SimOTA":[49,80],"parameter":[50],"optimization,":[51],"size-aware":[53],"loss":[54],"weighting)":[55],"with":[56],"inference-level":[57],"threshold":[58],"optimization.":[59],"Experimental":[60],"results":[61],"based":[62],"on":[63],"10,000":[64],"images":[65],"containing":[66],"232,000":[67],"annotations":[68],"demonstrate":[69],"that":[70],"all":[71],"four":[72],"evaluated":[73],"approaches":[74],"achieved":[75,105],"the":[76,83,87,106,119],"defined":[77],"constraints.":[79],"emerged":[81],"as":[82],"optimal":[84],"configuration,":[85],"delivering":[86],"highest":[88],"recall":[91],"(18.18%)":[92],"while":[93],"maintaining":[94],"PMR":[95,108],"of":[96,100],"0.06%":[97],"IDR":[99,116],"95.05%.":[101],"P3":[102],"enhancement":[104],"lowest":[107],"(0.05%),":[109],"SALW":[110],"provided":[111],"balanced":[112],"0.06%,":[115],"96.11%),":[117],"P3+SimOTA":[120],"combination":[121],"failed":[122],"critically":[123],"9.90%),":[125],"revealing":[126],"fundamental":[127],"incompatibility":[128],"between":[129],"components.":[131],"All":[132],"successful":[133],"configurations":[134],"exceeded":[135],"processing":[137],"requirements":[138],"(45\u201361":[139],"fps),":[140],"confirming":[141],"suitability":[142],"deployment":[144],"in":[145],"resource-constrained":[146],"agricultural":[147],"automation":[148],"systems.":[149]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-04-20T00:00:00"}