Multi-preference optimization enriches language-model alignment beyond pairwise preferences by contrasting entire sets of helpful and undesired responses, enabling richer training signals for large language models. During self-play alignment, these models often produce numerous candidate answers per query, making it computationally infeasible to include all of them in the training objective. We propose Active Multi-Preference Optimization (AMPO), which combines on-policy generation, a multi-preference group-contrastive loss, and active subset selection. Specifically, we score and embed large candidate pools of responses, then pick a small but informative subset—covering reward extremes and distinct semantic clusters—for preference optimization.The resulting contrastive-training scheme identifies not only the best and worst answers but also subtle, underexplored modes crucial for robust alignment. Theoretically, we provide guarantees of expected reward maximization using our active selection method. Empirically, AMPO achieves state-of-the-art results on AlpacaEval with Llama 8B and Mistral 7B. We release our datasets [here](https://huggingface.co/Multi-preference-Optimization).

Top-down Bird's Eye View (BEV) maps are a popular perception representation for ground robot navigation due to their richness and flexibility for downstream tasks. While recent methods have shown promise for predicting BEV maps from First-Person View (FPV) images, their generalizability is limited to small regions captured by current autonomous vehicle-based datasets. In this context, we show that a more scalable approach towards generalizable map prediction can be enabled by using two large-scale crowd-sourced mapping platforms, Mapillary for FPV images and OpenStreetMap for BEV semantic maps.We introduce Map It Anywhere (MIA), a data engine that enables seamless curation and modeling of labeled map prediction data from existing open-source map platforms. Using our MIA data engine, we display the ease of automatically collecting a 1.2 million FPV & BEV pair dataset encompassing diverse geographies, landscapes, environmental factors, camera models & capture scenarios. We further train a simple camera model-agnostic model on this data for BEV map prediction.Extensive evaluations using established benchmarks and our dataset show that the data curated by MIA enables effective pretraining for generalizable BEV map prediction, with zero-shot performance far exceeding baselines trained on existing datasets by 35%. Our analysis highlights the promise of using large-scale public maps for developing & testing generalizable BEV perception, paving the way for more robust autonomous navigation.Website: mapitanywhere.github.io

Object trackers deployed on low-power devices need to be light-weight, however, most of the current state-of-the-art (SOTA) methods rely on using compute-heavy backbones built using CNNs or Transformers. Large sizes of such models do not allow their deployment in low-power conditions and designing compressed variants of large tracking models is of great importance. This paper demonstrates how highly compressed light-weight object trackers can be designed using neural architectural pruning of large CNN and Transformer based trackers. Further, a comparative study on architectural choices best suited to design lightweight trackers is provided. A comparison between SOTA trackers using CNNs, Transformers as well as the combination of the two is presented to study their stability at various compression ratios. Finally results for extreme pruning scenarios going as low as 1% in some cases are shown to study the limits of network pruning in object tracking. This work provides deeper insights into designing highly efficient trackers from existing SOTA methods.1