Taneesh Gupta

Cherie Ho, Jiaye Zou, Omar Alama et al.

Top-down Bird's Eye View (BEV) maps are a popular 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 dataset of 1.2 million pairs of FPV images & BEV maps 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: https://mapitanywhere.github.io/

Saksham Aggarwal, Taneesh Gupta, Pawan Kumar Sahu et al. · berkeley

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 light-weight 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.

Taneesh Gupta, Rahul Madhavan, Xuchao Zhang et al.

Multi-preference optimization enriches language-model alignment beyond pairwise preferences by contrasting entire sets of helpful and undesired responses, thereby enabling richer training signals for large language models. During self-play alignment, these models often produce numerous candidate answers per query, rendering it computationally infeasible to include all responses in the training objective. In this work, we propose $\textit{Active Multi-Preference Optimization}$ (AMPO), a novel approach that combines on-policy generation, a multi-preference group-contrastive loss, and active subset selection. Specifically, we score and embed large candidate pools of responses and then select a small, yet informative, subset that covers reward extremes and distinct semantic clusters for preference optimization. Our contrastive training scheme is capable of identifying not only the best and worst answers but also subtle, underexplored modes that are crucial for robust alignment. Theoretically, we provide guarantees for expected reward maximization using our active selection method, and empirically, AMPO achieves state-of-the-art results on $\textit{AlpacaEval}$ using Llama 8B and Mistral 7B. We release our datasets $\href{https://huggingface.co/Multi-preference-Optimization}{here}$.

Pawan Kumar Sahu, Saksham Aggarwal, Taneesh Gupta et al.

One of the most pressing societal issues is the fight against false news. The false claims, as difficult as they are to expose, create a lot of damage. To tackle the problem, fact verification becomes crucial and thus has been a topic of interest among diverse research communities. Using only the textual form of data we propose our solution to the problem and achieve competitive results with other approaches. We present our solution based on two approaches - PLM (pre-trained language model) based method and Prompt based method. The PLM-based approach uses the traditional supervised learning, where the model is trained to take 'x' as input and output prediction 'y' as P(y|x). Whereas, Prompt-based learning reflects the idea to design input to fit the model such that the original objective may be re-framed as a problem of (masked) language modeling. We may further stimulate the rich knowledge provided by PLMs to better serve downstream tasks by employing extra prompts to fine-tune PLMs. Our experiments showed that the proposed method performs better than just fine-tuning PLMs. We achieved an F1 score of 0.6946 on the FACTIFY dataset and a 7th position on the competition leader-board.

Taneesh Gupta, Rahul Madhavan, Xuchao Zhang et al.

Direct Preference Optimization (DPO) has become a popular approach for aligning language models using pairwise preferences. However, in practical post-training pipelines, on-policy generation typically yields multiple candidate responses per prompt, which are scored by a reward model to guide learning. In this setting, we propose $\textbf{Multi-Preference Optimization (MPO)}$, a generalization of DPO that optimizes over entire sets of responses by extending the Bradley-Terry model to groupwise comparisons between chosen and rejected sets. To further enhance learning, MPO employs deviation-based weighting, which emphasizes outlier responses that deviate most from the mean reward, effectively inducing a self-paced curriculum. We theoretically prove that MPO reduces alignment bias at a rate of $\mathcal{O}\left(\frac{1}{\sqrt{n}}\right)$ with respect to the number of responses per query. Empirically, MPO achieves state-of-the-art performance on the UltraFeedback benchmark and yields up to $\sim 17.5\%$ improvement over the state-of-the-art baseline in length-controlled win rate on AlpacaEval2, establishing a new baseline for preference-based alignment

Taneesh Gupta, Shivam Shandilya, Xuchao Zhang et al.

Reward modeling in large language models is susceptible to reward hacking, causing models to latch onto superficial features such as the tendency to generate lists or unnecessarily long responses. In reinforcement learning from human feedback (RLHF) and more generally during post-training flawed reward signals often lead to outputs that optimize for these spurious correlates instead of genuine quality or correctness. We propose Context-Aware Reward Modeling (CARMO), a novel approach that first generates dynamic, context-relevant criteria to ground the reward model before producing reward scores. Unlike prior methods that rely on static rubrics, CARMO leverages large language models (LLMs) to adaptively create evaluation criteria such as logical consistency, clarity, and depth tailored to the user query. Our theoretical analysis shows that such criteria generation can mitigate reward hacking. We further demonstrate that CARMO can be distilled into smaller models, reducing the computational cost of alignment. We establish a new state-of-the-art performance in zero-shot settings for generative models, achieving a 2.1\% improvement on Reward Bench. Furthermore, alignment performed on the CARMO-curated preference dataset achieves 22.5\% and 21.1\% LC-WR and WR, respectively, on Mistral-Base (7B).

Taneesh Gupta, Rahul Madhavan, Xuchao Zhang et al.

To mitigate reward hacking from response verbosity, modern preference optimization methods are increasingly adopting length normalization (e.g., SimPO, ORPO, LN-DPO). While effective against this bias, we demonstrate that length normalization itself introduces a failure mode: the URSLA shortcut. Here models learn to satisfy the alignment objective by prematurely truncating low-quality responses rather than learning from their semantic content. To address this, we introduce REFA, a new alignment framework that proposes probabilistic control on a structural token that controls termination. Our core innovation is a new class of regularizers that operate directly on the probability of the End-of-Sequence (EOS) token, a previously unexploited control lever. This token-level intervention provides a principled solution to the URSLA shortcut, ensuring genuine quality improvements. Furthermore, it unlocks a versatile mechanism for managing the alignment-efficiency tradeoff, enabling practitioners to fine-tune models that adhere to specific token budgets. Empirically, REFA achieves a 60.29% win rate and a 52.17% length-controlled win rate on AlpacaEval2 with Llama-3-8B-Instruct, demonstrating the power of our token-level control paradigm.