Publications
Our teams aspire to make discoveries that impact everyone, and core to our approach is sharing our research and tools to fuel progress in the field.
Our teams aspire to make discoveries that impact everyone, and core to our approach is sharing our research and tools to fuel progress in the field.
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1 - 15 of 11631 publications
A 3D Scene Graphs Survey: Open Challenges and Future Directions
Dennis Rotondi
Francesco Argenziano
Sebastian Koch
Nathan Hughes
Martin Büchner
Johanna Wald
Lukas Schmid
Daniele Nardi
Abhinav Valada
Liam Paul
Luca Carlone
Kai Arras
Annual Review of Control, Robotics, and Autonomous Systems (ARCRAS), 10 (2027) (to appear)
Preview abstract
3D Scene Graphs (3DSGs) have emerged as a powerful representation for spatial AI by combining geometric grounding with semantic and relational abstractions of the environment. Their expressiveness has made them relevant to a broad range of problems in robotics and computer vision, including mapping, task and motion planning, scene understanding, and many others. However, the field remains fragmented: different communities adopt distinct formulations, construction pipelines, and evaluation protocols, making it difficult to compare methods, identify common assumptions, and assess remaining challenges for robust real- world deployment. This survey provides a unified and critical review of 3DSGs, with particular emphasis on open challenges and future directions. We first formalize 3DSGs under a common definition and analyze the principal modeling choices that characterize existing formulations, including node and edge attributes, hierarchical structure, dynamic scene representations, and affordance-aware extensions. We then review how 3DSGs are constructed from raw sensory observations, covering both learning-oriented and construction-oriented systems. Finally, we examine downstream applications and evaluation strategies, from intrinsic graph quality to task-level performance. To support the community, we also provide a dedicated website that organizes and extends the surveyed works.
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When Android Apps Request Location with a Reason: A Developer Study and User Behavior Experiment
May Smith
Aman Jain
Proceedings on Privacy Enhancing Technologies (2027)
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Recent reports have highlighted how mobile apps share user location data with third parties, risking user privacy and platform trust. Although location data is highly sensitive, when users grant apps location access, they may not know the full extent to which it is used. We study how requiring Android apps to show a reason for location access could impact developers, users, and the platform.
We surveyed 323 Android app developers and found most supported such a requirement. The majority said it would have a positive impact on user privacy, trust for apps, and trust for Android, where impact on user trust for Android correlated most strongly with support. Many developers also said the intervention would increase the number of users granting location access. Yet their open-ended comments also revealed consistent concerns, such as apps providing dishonest reasons and platform verification.
To study the impact on user behavior, we conducted a randomized controlled experiment with 2579 US Android users. We tested how users' decisions to grant location access were impacted by app type, whether reasons were included in the requests, and the content of the reasons, including monetization. We did not find the reasons impacted users' decisions; decisions were instead driven by app type and demographics. Yet we did find the reasons could have a positive impact on user perception for the platform when the reasons did not include using data for ads. Our findings provide insights into developers' willingness to implement privacy-enhancing changes, and expose limits to improving user privacy by simply adding information to user interfaces.
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In today's AI landscape, success depends not just on prompting large language models but on orchestrating them into intelligent systems that are scalable, compliant, and cost-effective. GenAI on Google Cloud is your hands-on guide to bridging that gap. Whether you're an ML engineer or an enterprise leader, this book offers a practical game plan for taking agentic systems from prototype to production.
Written by practitioners with deep experience in AgentOps, data engineering, and GenAI infrastructure, this guide takes you through real-world workflows from data prep and deployment to orchestration and integration. With concrete examples, field-tested frameworks, and honest insights, you'll learn how to build agentic systems that deliver measurable business value.
> Bridge the production gap that stalls 90% of vertical AI initiatives using systematic deployment frameworks
> Navigate AgentOps complexities through practical guidance on orchestration, evaluation, and responsible AI practices
> Build robust multimodal systems for text, images, and video using proven agent architectures
> Optimize for scale with strategies for cost management, performance tuning, and production monitoring
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Beyond Vector Similarity: Hierarchical Context-Aware Graph RAG vs Standard RAG in Enterprise Code Migration
Saurabh Garg
Arjit Shukla
Divya Malhotra
Suddhasatwa Bhaumik
Nilesh Jaiswal
Aniket Agrawal
Google Cloud Consulting, Google Cloud Consulting, Google, S. No, AP81, 83, N Main Rd, near Hard Rock Cafe, Koregaon Park Annexe, Mundhwa, Pune, Maharashtra 411036 (2026) (2026)
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As enterprises modernize legacy systems (e.g., monolithic Java architectures to Python microservices), Large Language Models (LLMs) have become instrumental in automated code translation.
However, traditional vector-based Retrieval-Augmented Generation (Standard RAG) struggles
with topological relationships, fetching isolated text chunks that frequently sever inheritance chains and lead to high compilation failure rates.
This paper presents a comparative analysis between Standard RAG and a novel Hierarchical
Context-Resident Graph (HCRG) methodology. Our pipeline utilizes tree-sitter for polyglot
Abstract Syntax Tree (AST) extraction, mapping architectural edges into a Google Cloud Spanner Property Graph, and serializing this structure into a Gemini (on Vertex AI) Context Cache to enable topological, parent-first code translation.
By shifting evaluation from naive text-overlap to a custom 7-metric framework measuring Software Engineering (SE) utility, empirical evaluations on the spring-petclinic-genai repository
demonstrate significant structural improvements. Graph RAG decisively mitigates dependency loss, dropping the API hallucination rate from 56.4% to 16.2%.
Furthermore, it improves Dependency Resolution Quality (DRQ) from 34.8% to
65.9% and enhances Parent-Child Consistency (PCC) from 26.7% to 45.5%. Interestingly, traditional lexical metrics fail to capture this divergence; both methodologies achieved
an identical 91% average CodeBLEU score, effectively masking Standard RAG’s structural
failures behind syntactically plausible but broken code.
However, the results indicate that Graph RAG is not strictly superior across all dimensions. Providing the LLM with dense, global structural context introduces new vulnerabilities: Graph RAG suffers a severe degradation in Cyclomatic Complexity Consistency
(dropping from Standard RAG’s 71.6% to 46.7%) due to defensive over-engineering
by the LLM, alongside a slight drop in Docstring Preservation (67.0% down to 61.0%)
caused by prompt attention dilution.
Ultimately, this research validates that while Graph RAG trades an increase in code complexity
for critical reductions in API hallucinations, it offers a substantially more viable and architecturally sound path for automated enterprise codebase modernisation.
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Geo experiment is a crucial, privacy-conscious option for measuring media effectiveness. Historically, two primary challenges have hindered the adoption of geo experiments: the high costs required to overcome large variance across geographical regions, and the unreliability of conventional analysis methods under real-world autocorrelation and non-stationary trends. To address these challenges, we introduce Meridian GeoX, Google’s open-source geo experiment framework. As a cornerstone of Google's modern measurement suite, Meridian GeoX is designed to standardize and optimize the end-to-end causal measurement lifecycle. The framework provides a unified suite of methodologies—including data-driven stratified sampling, advanced counterfactual models (Time-Based Regression, Synthetic Control, and Synthetic Difference-in-Differences), and a novel Design-Aware Placebo Inference engine. Extensive empirical benchmarking against industry alternatives demonstrates that Meridian GeoX delivers superior predictive accuracy, lowers Minimum Detectable Effects (MDE), and significantly reduces budget requirements. Furthermore, evaluations demonstrate that the framework's novel placebo inference maintains rigorous control over false positive rates while maximizing sensitivity under challenging conditions. By integrating seamlessly with the Meridian Marketing-Mix Model (MMM), this framework delivers a complete modern measurement solution. Ultimately, Meridian GeoX empowers advertisers with a powerful, cost-efficient, and methodologically robust solution for privacy-safe modern measurement, establishing a new industry standard for causal measurement and media effectiveness.
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Generative AI (GenAI) is evolving from standalone tools to interconnected ecosystems that integrate chatbots, cloud platforms, and third-party services. While this ecosystem model enables personalization and extended services, it also introduces complex information flows and amplifies privacy risks. Existing solutions focus on system-level protections, offering little support for users to make meaningful privacy choices. To address this gap, we conducted two vignette-based survey studies with 486 participants and a followup interview study with 16 participants. We also explored users’ needs and preferences for privacy choice design across both GenAI personalization and data-sharing. Our results reveal paradoxical patterns: participants sometimes trusted third-party ecosystems more for personalization but perceived greater control in first-party ecosystems when data was shared externally. We discuss design implications for privacy choice interfaces that enhance transparency, control, and trust in GenAI ecosystems.
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Theoretical Perspectives on Data Quality and Synergistic Effects in Pre- and Post-Training Reasoning Models
Adel Javanmard
Baharan Mirzasoleiman
arXiv preprint arXiv:2603.01293 (to appear in ICML 2026) (2026)
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We will study a theoretical model (one layer linear self attention with in-context linear task) to rigorously explain several observations (already reported in previous empirical work in the literature) about the characteristics of pretraining and post-training data that are relevant for good performance. Our analysis explain the importance of having a balanced diverse data in pretraining, and hard small set of examples for SFT, and large volume data fro RL. The experiments are on synthetic toy settings and on GPT-2 with synthetic linear regression data.
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Serverless platforms offer compelling economics for low-traffic inference of small language models (SLMs), but cold start latency remains a critical barrier. We present a systematic empirical study of cold start performance for quantized SLMs served via llama.cpp on Google Cloud Run’s CPU-only infrastructure. We benchmark five models (270M– 3.8B parameters) across two memory tiers (4 GiB and 8 GiB), with a quantization sweep spanning five GGUF formats (Q2_K through Q8_0) for LLaMA 3.2 1B and three-point validation on Gemma 3 270M and Qwen3 0.6B. Our results reveal that model loading dominates cold start time (55–70%), the 8 GiB tier provides a hidden 2× vCPU advantage that nearly halves warm inference time, and Q4_K_M quantization achieves a Pareto-optimal tradeoff across latency, throughput, and model quality (confirmed via WikiText-2 perplexity). A threepredictor latency model (R 2 = 0.97) and break-even cost analysis provide practitioners a quantitative framework for SLM deployment decisions. Index Terms—small language models, serverless computing, cold start, quantization, llama.cpp, Cloud Run, GGUF, inference optimization
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A Joint Academic-Industry Data Architecture Specification of Fundamental Sleep Measures for Wearable Consumer Health Trackers
Michael W.L. Chee
Mathias Baumert
Sean A Drummond
Hannah Scott
Cathy A Goldstein
Massimiliano de Zambotti
Conor Heneghan
Josh Leota
Siqi Hao
Ljubica Cimesa
Nicola Cellini
Sebastiaan Overeem
Kelly Baron
Amir Sharafkhaneh
Penzel, Thomas
Clete A. Kushida
Sleep Medicine (2026)
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Consumer health trackers (CHTs) capable of estimating sleep have become widely adopted and are increasingly used by individuals, researchers, and healthcare professionals to characterize habitual sleep patterns and their relationship to health. However, although many manufacturers report similarly named sleep measures, these are often defined, computed, and represented differently, hindering clinical integration. Population reference values, risk thresholds, and outcome associations can only be established reliably when measurements represent the same underlying constructs. To address this standards gap, a multidisciplinary working group comprising academic and industry experts developed a Minimum Viable Standard (MVS) specifying a common semantic framework for Fundamental Sleep Measures (FSMs) generated by CHT. The specification balances scientific rigor, clinical utility, and practical implementation while accommodating proprietary algorithms and user interfaces. By standardizing backend data semantics rather than front-end product implementation, the framework enables interoperability across manufacturers without constraining innovation. The specification defines metadata, provenance, quality indicators, and circumstances in which wearable-derived sleep measures should be interpreted with caution. This work provides the technical foundation for consistent integration of CHT sleep data into electronic health records, digital health platforms, and population health surveillance systems. Establishing standardized language for wearable sleep measurement, enables clinically interpretable, interoperable, and trustworthy use of CHT sleep data while preserving manufacturer’s opportunities for technological innovation.
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The Agent-to-Agent (A2A) protocol is an open, vendor-neutral standard proposed by Google to enable seamless collaboration between independent AI agents. A2A allows agents to discover each other via standardized Agent Cards, exchange structured Tasks and messages over JSON-RPC/HTTP, and stream updates for long-running work. This paper details the A2A protocol, including its technical building blocks, security model based on OAuth2/OIDC, and contrasts it with existing agent interaction models. We illustrate its utility through real-world multi-agent workflows, demonstrating how A2A, in conjunction with Model Context Protocol (MCP), can form a robust and interoperable ecosystem for scalable, enterprise-grade autonomous processes across different organizations and platforms.
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OpenClaw in Practice: Building Laptop-Less Engineering Workflows with an Agent Harness
Hackernoon (2026)
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This article introduces OpenClaw, an AI-powered workflow harness designed to reduce operational friction for developers. Unlike traditional chatbots, OpenClaw manages and persists context across complex engineering tasks, enabling asynchronous operations and mobile-first interactions. The post explores practical use cases, including incident triage from mobile, asynchronous pull request reviews, quick infrastructure scripting, and automating routine operational tasks. It also delves into the key architectural layers of an OpenClaw-like system—Connectors, Gateway/Session Manager, Agent Runtime, Memory/Configuration, and Skills/Tools. The article emphasizes the importance of security, observability, and proper integration with existing developer ecosystems, positioning OpenClaw as a shift towards reducing context switching and enhancing developer productivity by automating the workflows around coding.
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Integrating Level-Design for Editable, Shared Worlds in Diffusion Game Engines
Po Ryan
David Zhang
Amir Hertz
Gordon Wetzstein
Neal Wadhwa
Nataniel Ruiz
2026
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Video world models have shown immense promise for interactive simulation and entertainment, but current systems still struggle with two important aspects of interactivity: user control over the environment for reproducible, editable experiences, and shared inference where players hold influence over a common world. To address these limitations, we introduce an explicit external memory into the system, a persistent state operating independent of the model’s context window, that is continually updated by user actions and queried throughout the generation roll-out. Unlike conventional diffusion game engines that op-
erate as next-frame predictors, our approach decomposes generation into Memory, Observation, and Dynamics modules. This design gives users direct, editable control over environment structure via an editable memory representation, and it naturally extends to real-time multiplayer rollouts with coherent viewpoints and consistent cross-player interactions.
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Deep-learning methods have boosted the analytical power of Raman spectroscopy, yet they still require large, task-specific, labeled datasets and often fail to transfer across application domains. The study explores pre-trained encoders as a solution. Pre-trained encoders have significantly impacted Natural Language Processing and Computer Vision with their ability to learn transferable representations that can be applied to a variety of datasets, significantly reducing the amount of time and data required to create capable models. The following work puts forward a new approach that applies these benefits to Raman Spectroscopy. The proposed approach, RSPTE (Raman Spectroscopy Pre-Trained Encoder), is designed to learn generalizable spectral representations without labels. RSPTE employs a novel domain adaptation strategy using unsupervised Barlow Twins decorrelation objectives to learn fundamental spectral patterns from multi-domain Raman Spectroscopy datasets containing samples from medicine, biology, and mineralogy. Transferability is demonstrated through evaluation on several models created by fine-tuning RSPTE for different application domains: Medicine (detection of Melanoma and COVID), Biology (Pathogen Identification), and Agriculture. As an example, using only 20% of the dataset, models trained with RSPTE achieve accuracies ranging 50%–86% (depending on the dataset used) while without RSPTE the range is 9%–57%. Using the full dataset, accuracies with RSPTE range 81%–97%, and without pretraining 51%–97%. Current methods and state-of-the-art models in Raman Spectroscopy are compared to RSPTE for context, and RSPTE exhibits competitive results, especially with less data as well. These results provide evidence that the proposed RSPTE model can effectively learn and transfer generalizable spectral features across different domains, achieving accurate results with less data in less time (both data collection time and training time).
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Looking to the brain to improve energy efficiency of AI
Taro Toyoizumi
Hakwan Lau
Michał Klincewicz
Seng Bum Michael Yoo
Megan Peters
taylor.w.webb@gmail.com
Current Biology (2026)
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Modern artificial intelligence (AI) systems have achieved remarkable capabilities, but at an extraordinary energy cost. Training and running large-scale models can consume vast resources, posing environmental, economic, and social challenges. In contrast, biological brains perform lifelong learning, adaptive control, and flexible reasoning using orders of magnitude less energy for learning and adaptation over a lifetime. What accounts for this difference -- and how can it guide future AI development? In this article, we identify key biological principles that support energy-efficient capacities in biological brains, and consider how they might inform the design of more sustainable artificial systems. We organize our analysis around three domains: architectural constraints, signaling strategies, and learning algorithms. In each domain, we discuss concrete observations from biology -- from cell to circuit to cognitive level -- and describe how current and emerging AI systems mirror or diverge from these motifs. One striking feature of biological energy optimization is often overlooked: that brains are remarkably stable in their energy usage across heterogeneous modes, suggesting they may minimize energy needs during active environmental processing through maximizing the utility of “rest-like” background processes. Overall, rather than advocating for biomimicry for its own sake, we argue for biologically informed engineering. Understanding how natural systems minimize energetic cost while maximizing flexibility may help us build AI that is not only powerful, but also efficient, equitable, and environmentally responsible.
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Mining Attribute Subspaces for Efficient Fine-tuning of 3D Foundation Models
Yu Jiang
Hanwen Jiang
Vincent Chu
Brandon Y. Feng
Zhangyang Wang
Qixing Huang
IEEE/CVF Conference on Computer Vision and Pattern Recognition (2026)
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With the emergence of 3D foundation models, there is growing interest in fine-tuning them for downstream tasks, where LoRA is the dominant fine-tuning paradigm. As 3D datasets exhibit distinct variations in texture, geometry, camera motion, and lighting, there are interesting fundamental questions: 1) Are there LoRA subspaces associated with each type of variation? 2) Are these subspaces disentangled (i.e., orthogonal to each other)? 3) How do we compute them effectively? This paper provides answers to all these questions. We introduce a robust approach that generates synthetic datasets with controlled variations, fine-tunes a LoRA adapter on each dataset, and extracts a LoRA sub-space associated with each type of variation. We show that these subspaces are approximately disentangled. Integrating them leads to a reduced LoRA subspace that enables efficient LoRA fine-tuning with improved prediction accuracy for downstream tasks. In particular, we show that such a reduced LoRA subspace, despite being derived entirely from synthetic data, generalizes to real datasets. An ablation study validates the effectiveness of the choices in our approach.
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