We present a new method that views object detection as a direct set prediction problem. Our approach streamlines the detection pipeline, effectively removing the need for many hand-designed components like a non-maximum suppression procedure or anchor generation that explicitly encode our prior knowledge about the task. The main ingredients of the new framework, called DEtection TRansformer or DETR, are a set-based global loss that forces unique predictions via bipartite matching, and a transformer encoder-decoder architecture. Given a fixed small set of learned object queries, DETR reasons about the relations of the objects and the global image context to directly output the final set of predictions in parallel. The new model is conceptually simple and does not require a specialized library, unlike many other modern detectors. DETR demonstrates accuracy and run-time performance on par with the well-established and highly-optimized Faster R-CNN baseline on the challenging COCO object detection dataset. Moreover, DETR can be easily generalized to produce panoptic segmentation in a unified manner. We show that it significantly outperforms competitive baselines. Training code and pretrained models are available at https://github.com/facebookresearch/detr.

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Image annotation datasets are becoming larger and larger, with tens of millions of images and tens of thousands of possible annotations. We propose a strongly performing method that scales to such datasets by simultaneously learning to optimize precision at k of the ranked list of annotations for a given image and learning a low-dimensional joint embedding space for both images and annotations. Our method both outperforms several baseline methods and, in comparison to them, is faster and consumes less memory. We also demonstrate how our method learns an interpretable model, where annotations with alternate spellings or even languages are close in the embedding space. Hence, even when our model does not predict the exact annotation given by a human labeler, it often predicts similar annotations, a fact that we try to quantify by measuring the newly introduced "sibling" precision metric, where our method also obtains excellent results.