diff --git a/.github/workflows/ci-testing.yml b/.github/workflows/ci-testing.yml
index 4083ac354c46..f3e36675f49d 100644
--- a/.github/workflows/ci-testing.yml
+++ b/.github/workflows/ci-testing.yml
@@ -39,7 +39,7 @@ jobs:
           pip list
       - name: Run benchmarks
         run: |
-          python utils/benchmarks.py --weights ${{ matrix.model }}.pt --img 320
+          python utils/benchmarks.py --weights ${{ matrix.model }}.pt --img 320 --hard-fail
 
   Tests:
     timeout-minutes: 60
diff --git a/export.py b/export.py
index 9daf39f871c2..1d8f07fc9e2f 100644
--- a/export.py
+++ b/export.py
@@ -75,18 +75,18 @@
 def export_formats():
     # YOLOv5 export formats
     x = [
-        ['PyTorch', '-', '.pt', True],
-        ['TorchScript', 'torchscript', '.torchscript', True],
-        ['ONNX', 'onnx', '.onnx', True],
-        ['OpenVINO', 'openvino', '_openvino_model', False],
-        ['TensorRT', 'engine', '.engine', True],
-        ['CoreML', 'coreml', '.mlmodel', False],
-        ['TensorFlow SavedModel', 'saved_model', '_saved_model', True],
-        ['TensorFlow GraphDef', 'pb', '.pb', True],
-        ['TensorFlow Lite', 'tflite', '.tflite', False],
-        ['TensorFlow Edge TPU', 'edgetpu', '_edgetpu.tflite', False],
-        ['TensorFlow.js', 'tfjs', '_web_model', False],]
-    return pd.DataFrame(x, columns=['Format', 'Argument', 'Suffix', 'GPU'])
+        ['PyTorch', '-', '.pt', True, True],
+        ['TorchScript', 'torchscript', '.torchscript', True, True],
+        ['ONNX', 'onnx', '.onnx', True, True],
+        ['OpenVINO', 'openvino', '_openvino_model', True, False],
+        ['TensorRT', 'engine', '.engine', False, True],
+        ['CoreML', 'coreml', '.mlmodel', True, False],
+        ['TensorFlow SavedModel', 'saved_model', '_saved_model', True, True],
+        ['TensorFlow GraphDef', 'pb', '.pb', True, True],
+        ['TensorFlow Lite', 'tflite', '.tflite', True, False],
+        ['TensorFlow Edge TPU', 'edgetpu', '_edgetpu.tflite', False, False],
+        ['TensorFlow.js', 'tfjs', '_web_model', False, False],]
+    return pd.DataFrame(x, columns=['Format', 'Argument', 'Suffix', 'CPU', 'GPU'])
 
 
 def export_torchscript(model, im, file, optimize, prefix=colorstr('TorchScript:')):
diff --git a/utils/benchmarks.py b/utils/benchmarks.py
index 69d653a20916..03bab9b6ded2 100644
--- a/utils/benchmarks.py
+++ b/utils/benchmarks.py
@@ -26,6 +26,7 @@
 """
 
 import argparse
+import platform
 import sys
 import time
 from pathlib import Path
@@ -54,14 +55,17 @@ def run(
         half=False,  # use FP16 half-precision inference
         test=False,  # test exports only
         pt_only=False,  # test PyTorch only
+        hard_fail=False,  # throw error on benchmark failure
 ):
     y, t = [], time.time()
     device = select_device(device)
-    for i, (name, f, suffix, gpu) in export.export_formats().iterrows():  # index, (name, file, suffix, gpu-capable)
+    for i, (name, f, suffix, cpu, gpu) in export.export_formats().iterrows():  # index, (name, file, suffix, CPU, GPU)
         try:
-            assert i != 9, 'Edge TPU not supported'
-            assert i != 10, 'TF.js not supported'
-            if device.type != 'cpu':
+            assert i not in (9, 10), f'{name} inference not supported'  # Edge TPU and TF.js are unsupported
+            assert i != 5 or platform.system() == 'Darwin', f'{name} inference only supported on macOS>=10.13'
+            if 'cpu' in device.type:
+                assert cpu, f'{name} inference not supported on CPU'
+            if 'cuda' in device.type:
                 assert gpu, f'{name} inference not supported on GPU'
 
             # Export
@@ -77,6 +81,8 @@ def run(
             speeds = result[2]  # times (preprocess, inference, postprocess)
             y.append([name, round(file_size(w), 1), round(metrics[3], 4), round(speeds[1], 2)])  # MB, mAP, t_inference
         except Exception as e:
+            if hard_fail:
+                assert type(e) is AssertionError, f'Benchmark --hard-fail for {name}: {e}'
             LOGGER.warning(f'WARNING: Benchmark failure for {name}: {e}')
             y.append([name, None, None, None])  # mAP, t_inference
         if pt_only and i == 0:
@@ -102,6 +108,7 @@ def test(
         half=False,  # use FP16 half-precision inference
         test=False,  # test exports only
         pt_only=False,  # test PyTorch only
+        hard_fail=False,  # throw error on benchmark failure
 ):
     y, t = [], time.time()
     device = select_device(device)
@@ -134,6 +141,7 @@ def parse_opt():
     parser.add_argument('--half', action='store_true', help='use FP16 half-precision inference')
     parser.add_argument('--test', action='store_true', help='test exports only')
     parser.add_argument('--pt-only', action='store_true', help='test PyTorch only')
+    parser.add_argument('--hard-fail', action='store_true', help='throw error on benchmark failure')
     opt = parser.parse_args()
     opt.data = check_yaml(opt.data)  # check YAML
     print_args(vars(opt))