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Direct preference optimization (DPO) has shown success in aligning diffusion models with human preference. Previous approaches typically assume a consistent preference label between final generations and noisy samples at intermediate steps,…
Direct Preference Optimization (DPO) has become a standard framework for safety alignment, but its reliance on pairwise preference updates makes training sensitive to imperfect supervision. Existing robust DPO methods often address this…
Direct Preference Optimization (DPO) has shown strong potential for mitigating hallucinations in Multimodal Large Language Models (MLLMs). However, existing multimodal DPO approaches often suffer from overfitting due to the difficulty…
Robust 3D object detection is a core challenge for autonomous mobile systems in field robotics. To tackle this issue, many researchers have demonstrated improvements in 3D object detection performance in datasets. However, real-world urban…
Reliable and accurate 3D object detection is a necessity for safe autonomous driving. Although LiDAR sensors can provide accurate 3D point cloud estimates of the environment, they are also prohibitively expensive for many settings.…
3D object detection is crucial for applications like autonomous driving and robotics. However, in real-world environments, variations in sensor data distribution due to sensor upgrades, weather changes, and geographic differences can…
Text-to-image diffusion models deliver high-quality images, yet aligning them with human preferences remains challenging. We revisit diffusion-based Direct Preference Optimization (DPO) for these models and identify a critical pathology:…
At the forefront of state-of-the-art human alignment methods are preference optimization methods (*PO). Prior research has often concentrated on identifying the best-performing method, typically involving a grid search over hyperparameters,…
Deploying 3D detectors in unfamiliar domains has been demonstrated to result in a significant 70-90% drop in detection rate due to variations in lidar, geography, or weather from their training dataset. This domain gap leads to missing…
In this paper, we present a self-training method, named ST3D++, with a holistic pseudo label denoising pipeline for unsupervised domain adaptation on 3D object detection. ST3D++ aims at reducing noise in pseudo label generation as well as…
Varied approaches for aligning language models have been proposed, including supervised fine-tuning, RLHF, and direct optimization methods such as DPO. Although DPO has rapidly gained popularity due to its straightforward training process…
Direct Preference Optimization (DPO) has recently been applied as a post-training technique for text-to-video diffusion models. To obtain training data, annotators are asked to provide preferences between two videos generated from…
The practical applications of diffusion models have been limited by the misalignment between generated images and corresponding text prompts. Recent studies have introduced direct preference optimization (DPO) to enhance the alignment of…
We present a new domain adaptive self-training pipeline, named ST3D, for unsupervised domain adaptation on 3D object detection from point clouds. First, we pre-train the 3D detector on the source domain with our proposed random object…
Training large models with distributed data parallelism (DDP) requires frequent communication of gradients across workers, which can saturate bandwidth. Infrequent communication strategies (e.g., Local SGD) reduce this overhead but, when…
Accurate, robust, and real-time LiDAR-based odometry (LO) is imperative for many applications like robot navigation, globally consistent 3D scene map reconstruction, or safe motion-planning. Though LiDAR sensor is known for its precise…
Direct Preference Optimization (DPO) is an efficient alignment technique that steers LLMs towards preferable outputs by training on preference data, bypassing the need for explicit reward models. Its simplicity enables easy adaptation to…
Differentiable planning enables gradient-based optimization of decision-making problems by leveraging differentiable models of system dynamics. However, in highly nonlinear and hybrid discrete-continuous domains, the resulting optimization…
Direct Preference Optimization (DPO), which aligns models with human preferences through win/lose data pairs, has achieved remarkable success in language and image generation. However, applying DPO to video diffusion models faces critical…
Out-of-distribution (OOD) detection is essential for ensuring the robustness of machine learning models by identifying samples that deviate from the training distribution. While traditional OOD detection has primarily focused on…