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 11628 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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Accurate ground state energy estimation with noise and imperfect state preparation
Tom O'Brien
Alicja Dutkiewicz
Stefano Polla
ArXiv (2026)
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We introduce a classical estimator for the post-processing of quantum phase estimation (QPE) data generated either by quantum-Fourier-transform-based or quantum-signal-processing-based methods. These methods sample from a distribution supported on $[0, 2\pi]$, depending on the location of the target phase within this window. We focus on the case where the target phase lies within a smaller promise region, where no other phases are present, which is typical of e.g. ground state energy estimation of gapped quantum systems. Our estimation technique is based on filtering the signal within the promise region and recovering the phase through a moment-projection estimator. We show that our methods are robust in the presence of both additional phases outside the promise region and global depolarizing noise. We observe in the noiseless case our estimator achieves an exponential improvement over naive mean estimation in certain parameter regimes. In the presence of global depolarizing noise, no robust state of the art is known, and our estimator achieves a bias exponentially small in the circuit depth $T$ at fixed circuit fidelity $F$, and a variance proportional to $T^{-2}$, improving by a factor of $T^4$ over the naive approach. To mitigate realistic circuit-level noise, we combine our method with the explicit unbiasing scheme described in Ref.~\cite{dutkiewiczError2025}. As an illustrative example, we implement these estimators on a small-scale simulation of the Ising model. We observe that the moment-projection estimator retains some residual bias removable by the explicit unbiasing scheme, but this was significantly smaller than the variance in the system for the parameter range tested. The robustness of the moment-projection estimator in the presence of both multiple eigenvalues and noise makes phase estimation with limited depth practical for early fault tolerant quantum experiments.
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Mobile Telemetry-Centered Threat Modeling for Managed Enterprise Architectures
IEEE Computer, vol. 59 (2026)
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This work introduces Telemetry-Centered Threat Modeling (TCTM), a vendor- and operating system–agnostic framework designed to assess whether mobile security telemetry is sufficiently authoritative to guide enterprise security policies and automated decision-making. Recognizing that enterprise security workflows frequently falter when acting on intercepted, delayed, or manipulated signals even if endpoint enforcement remains functional, TCTM establishes telemetry as a first-class security surface rather than a passive byproduct. The framework systematically evaluates evidence paths across four essential properties (origin, time-bounded validity, lineage, and binding) to uncover structural pipeline weaknesses before higher-level threat modeling takes place. Ultimately, TCTM bridges the gap between theoretical modeling and operational defense by translating telemetry vulnerabilities into tangible engineering artifacts, including SIEM detection rules, SOAR playbook constraints, and practical mobile testing scenarios.
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The advent of 3D Gaussian Splatting has revolutionized graphics rendering by offering high visual quality and fast rendering speed. However, training large-scale scenes at high quality remains challenging due to the substantial memory demands required to store Gaussians and optimizer states. To address these limitations, we propose GS-Offload, fast and memory-efficient training system for 3D Gaussian Splatting. GS-Offload stores Gaussians and optimizer states in host memory and selectively transfer only the necessary data to GPU memory on demand, significantly reducing GPU memory usage. With carefully designed software pipelining and CPU-side optimizer acceleration, GS-Offload achieves training speed near that of GPU-only setups, while significantly lowering GPU memory demands.
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Editing Everything Everywhere All at Once
Fabio Quattrini
Carmine Zaccagnino
Enis Simsar
Marta Tintore Gazulla
Rita Cucchiara
Silvia Cascianelli
2026
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Editing multiple elements of an image in a single forward pass has recently emerged as a practical alternative to multi-turn image manipulation, offering improved efficiency. However, when several instructions target different regions, semantic interference often leads to attribute leakage and poor edit disentanglement, especially as the number of edits increases. In this work, we propose MICE (Multi-Instance Concurrent Editing), a training-free strategy for scalable multi-instance image editing with Multimodal Diffusion Transformers. MICE modifies the additive bias of joint attention to regulate interactions between instance-specific text, latent, and context tokens identified via user-provided segmentation masks. Specifically, MICE allows intra-instance attention, penalizes interactions between neighboring region tokens, and suppresses unrelated cross-instance attention. As a result, our method enforces attribute binding while preserving global visual consistency. We evaluate MICE on LoMOE-Bench and introduce MICE-Bench, a more challenging benchmark with an average of 8.5 concurrent edits per image. The experiments demonstrate that our approach outperforms strong baselines and recent competitors in terms of the number of attempted edits and faithfulness to the textual editing instruction.
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Large-scale, interpretable gene regulatory network inference through biologically informed matrix factorization
Soel Micheletti
Viola Fanfani
Julia Vogt
John Quackenbush
Jonas Fischer
Alexander Marx
Panagiotis Mandros
bioRxiv (2026)
Preview abstract
Gene regulatory networks (GRNs) provide a mechanistic framework for understanding how transcription factors coordinate gene expression to establish cellular identity and phenotype. Methods that integrate gene expression with motif-derived regulatory priors and other sources of biological information have substantially advanced gene regulatory network inference by reconstructing condition-specific regulatory architecture. These approaches estimate the evidence supporting regulatory interactions and have proven remarkably successful in a wide range of biological applications. A complementary view of regulatory networks, however, seeks to estimate the effect of those interactions on gene expression itself, providing a framework in which regulatory edges can be interpreted as activating or inhibitory influences on transcription.
We developed Giraffe, a biologically informed matrix factorization framework that jointly estimates transcription factor activities and gene regulatory networks by integrating gene expression, motif-based regulatory priors, and transcription factor protein-protein interactions. Giraffe estimates signed partial regulatory effects whose magnitude and sign can be interpreted as the strength and direction of transcriptional regulation. Building directly on the biological framework established by methods such as PANDA, Giraffe provides a complementary representation of gene regulatory networks that emphasizes mechanistic interpretation while remaining scalable, flexible, and computationally efficient.
Across synthetic benchmarks, six human tissues, yeast transcription factor perturbation experiments, and liver hepatocellular carcinoma, Giraffe accurately reconstructs regulatory interactions while distinguishing activating from inhibitory regulation with high accuracy. The inferred networks recover known features of tissue-specific regulation, correctly classify regulatory effects in transcription factor perturbation experiments, and identify biologically coherent changes in regulatory programs associated with liver cancer. Together, these results demonstrate that estimating the direction of transcriptional regulation provides a complementary perspective on gene regulatory networks that facilitates biological interpretation and hypothesis generation.
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Modern user interfaces are complex composites, with elements originating from various sources, such as the operating system, apps, a web browser, or websites. Many security and privacy models implicitly depend on users correctly identifying an element's source, a concept we term ''surface attribution.'' Through two large-scale vignette-based surveys (N=4,400 and N=3,057), we present the first empirical measurement of this ability.
We find that users struggle, correctly attributing UI source only 55% of the time on desktop and 53% on mobile. Familiarity and strong brand cues significantly improve accuracy, whereas UI positioning, a long-held security design concept especially for browsers, has minimal impact. Furthermore, simply adding a ''Security & Privacy'' brand cue to Android permission prompts failed to improve attribution. These findings demonstrate a fundamental gap in users' mental models, indicating that relying on them to distinguish trusted UI is a fragile security paradigm.
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The Perfection Paradox: From Architect to Curator in AI-Assisted API Design
JJ Geewax
David R Karger
Extended Abstracts of the 2026 CHI Conference on Human Factors in Computing Systems (CHI EA '26), ACM, Barcelona, Spain, TBD
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Enterprise API design is often bottlenecked by the tension between rapid feature delivery and the rigorous maintenance of usability standards. We present an industrial case study evaluating an AI-assisted design workflow trained on API Improvement Proposals(AIPs). Through a controlled study with 16 industry experts, we compared AI-generated API specifications against human-authored ones. While quantitative results indicated AI superiority in 10 of 11 usability dimensions and an 87% reduction in authoring time, qualitative analysis revealed a paradox: experts frequently misidentified AI work as human (19% accuracy) yet described the designs as unsettlingly “perfect.” We characterize this as a “Perfection Paradox”—where hyper-consistency signals a lack of pragmatic human judgment. We discuss the implications of this perfection paradox, proposing a shift in the human designer’s role from the “drafter” of specifications to the “curator” of AI-generated patterns.
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Reinforcement Learning Control of Quantum Error Correction
Cameron Maxfield
Guifre Vidal
Bob Buckley
Jonathan Waltz
Christopher Wood
Reza Molavi
John Mark Kreikebaum
Rajeev Acharya
David Sobel
Abeer Vaishnav
Ali Hadjikhani
Ryuho Kudo
Wendy Leung
Brett Buchea
Ningfeng Zhu
Shirin Montazeri
Jamie Yao
Bicheng Ying
Eric Mascot
Lenny Fuste
Zhenjie Zou
Rodrigo Cortinas
Matt Lloyd
Clarke Smith
Kris Ottosson
Emma Ropes
Felix Borjans
Rebecca Potter
Sean Harrington
Jeremy Hilton
David Enriquez
Stephen Heslin
Paula Heu
Daniel Lundahl
Elliot Young
Alex Crook
Fedor Kostritsa
Roberto Rodriguez
Chia Ni
Kim Ming Lau
Priyanka Thiruraman
Martin Damyanov
Logan Oas
Dmitry Abanin
Oscar Higgott
Aaron Shorter
Steve Habegger
Aniket Maiti
Ryan Kaufman
Valerie Ehimhen
Sayra Alcaraz
Marcos Flores
Elizabeth Rossi
Aria Shahingohar
Dario Rosenstock
Travis Weidel
Steven Waltman
Kristi Wong
Murat Sarihan
Arun Kumar
Vladimir Shvarts
Matt Reagor
Alfredo Torres
Michael Qian
Anthony Megrant
Charles Neill
Christopher Hudspeth
Michael Hamilton
Bill Huggins
Laura De Lorenzo
Tan Ha
Ran Zhang
Dar Gilboa
Nicholas Bushnell
Sherman Peek
David Rhodes
Leigh Martin
Mike Shearn
Vlad Kurilovich
David Browne
Spencer Small
Brian Ballard
Will Oliver
Lior Ella
Orion Pritchard
Josh Cogan
Rachel Resnick
Dmitri Maslov
Jose Guerrero
Paul Masih Das
Theodore White
Helge Gehring
Nikita Astrakhantsev
Can Knaut
Maddy Woodson
Brooks Foxen
Frank Arute
Alejo Grajales Dau
Yaxing Zhang
Aaron Szasz
Alexander Lill
Justin Ledford
Xiaoxuan Jin
Andreas Kabel
Sid Madhuk
Orion Martin
Catherine Vollgraff Heidweiller
Gabrielle Roberts
Juan Campero
Juhwan Yoo
Robert Salazar
Michael Newman
Arpit Ranadive
James Goeders
William Giang
Gonzalo Garcia
Agnetta Cleland
Maddie Taylor
Dogan Timucin
Ross Alcaraz
Hui Kang
Johannes Bausch
William Courtney
Robert Gasca
Kevin Satzinger
Meghan Voorhees
Silas Chen
Laleh Beni
Andrew Dunsworth
Jamal Busnaina
Pavel Laptev
Kiseo Kang
Shannon Wang
Paul Donohoe
Paul Conner
Vadim Smelyanskiy
James Spencer
Benjamin Chiaro
Grayson Young
Tim Burger
ILYA Drozdov
Peter Brooks
Jordan Suchard
Austin Fowler
Jimmy Chen
Alec Eickbusch
Francisco Heras
Hung-Shen Chang
Michael Broughton
Jeanne Hartshorn
Aviv Elbag
Martin Bigdeli
Tanner Hadick
Juan Atalaya
Mahmoud Elzouka
Melvin Mathews
Alex Sztein
Markus Ansmann
Pavol Juhas
Bryan Cochrane
Murray Ich Nguyen
Ashley Maloney
Will Livingston
Roberto Collins
Ming Li
Élie Genois
Jeremiah Ford
Christopher Garrick
Sayan Das
David Peterson
Eifu Tomita
Suhas Ganjam
Reno Hiltermann
Dylan Bowers
Bryce Kobrin
Yu Chen
Dan Riley
Leon Brill
Barrett Spells
Ben Curtin
Mike Hucka
Seneca Meeks
Sebastian Molina
Tiano Lange-Dei
Georg Aigeldinger
Ashley Huff
Wing Li
ZLATKO MINEV
Monica Hansen
Sebastian Schroeder
Walt Askew
Dietrich Graumann
Elias Portoles
Stijn de Graaf
Matt Cockrell
Harold Cook
Masaya Fukami
Noah Shutty
Ed Gonzales
Robert Geiger
Amir Karamlou
Loick Le Guevel
Ebrahim Forati
Justin Vargas
Doug Thor
Joel Grebel
Lucia De Rose
LILY LI
Dave Landhuis
Emma Rosenfeld
Hsin-Yuan (Robert) Huang
Kenny Lee
Shaun Jevons
Ping Yeh
Amira Abbas
Kunal Arya
Henry Schurkus
Hector Bates
Ganesh Ramachandran
Sergey Vdovichev
Brayden Ware
Max Schaefer
Cheng Xing
Brandon Langley
Anthony Cabrera
Michel Devoret
Cody Jones
Vlad Sivak
Mert Torunbalci
Ben Kueffler
Chaitali Joshi
Raja Gosula
Joy Lee
Alexander Korotkov
Thomas Edlich
Aditya Locharla
Nathan Lacroix
George Sterling
Hao Tran
Kostyantyn Kechedzhi
Trond Andersen
Alexandre Bourassa
Aaron Lunt
Alan Fung
Alex Pizzuto
Salvatore Mandra
Alex Greene
Vitali Kutsko
Kannan Sankaragomathi
Sofia Springer
Vinicius Ferreira
Raymond Orosco
Nature (2026)
Preview abstract
The promise of fault-tolerant quantum computing is challenged by environmental drift that relentlessly degrades the quality of quantum operations. The contemporary solution, halting the entire quantum computation for recalibration, is unsustainable for the long runtimes of the future algorithms \cite{reiher2017elucidating,gidney2025factor}. We address this challenge by unifying calibration with computation, granting the quantum error correction process \cite{ryan2021realization,krinner2022realizing,sivak2023real,acharya2024quantum, bluvstein2024logical,bluvstein2025architectural,lacroix2025scaling} a dual role: its error detection events are not only used to correct the logical quantum state, but are also repurposed as a learning signal, teaching a reinforcement learning (RL) agent \cite{silver2017mastering,mnih2015human,levine2016end, shalev2016safe,ouyang2022training} to continuously steer the physical control parameters and stabilize the quantum system during the computation. We experimentally demonstrate this framework on a Willow superconducting processor, improving the logical stability of the surface code 3.5-fold against injected drift. By synthesizing our full suite of technological advances, including RL fine-tuning of the entire system and near-optimal decoding \cite{senior2025scalable, beni2025tesseract}, we achieve record performance of the surface and color codes, with average logical error per cycle of $\varepsilon_L=7.7\times10^{-4}$ and $\varepsilon_L=8.2\times10^{-3}$ respectively. Simulations of surface codes up to distance-15 with tens of thousands control parameters confirm the scalability of our RL framework, revealing an optimization speed that is independent of the system size. This work thus enables a new paradigm: a quantum computer that learns to self-improve directly from its errors and never stops computing.
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Object-Counting for remote-sensing (RS) imagery is raising increasing research interest due to its crucial role in a wide and diverse set of applications. While several promising methods for RS object-counting have been proposed, existing methods focus on a closed, pre-defined set of object classes. This limitation necessitates costly re-annotation and model re-training to adapt current approaches for counting of novel objects that have not been seen during training, and severely inhibits their application in dynamic, real-world monitoring scenarios.
To address this gap, in this work we propose RS-OVC - an adaptation of existing work for Open Vocabulary Counting (OVC) approach from general computer vision to the RS domain. We show that our model is capable of accurate counting of novel object classes, that are unseen during training, based solely on textual and/or visual conditioning.
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Feed-forward foundation models for multi-view 3-dimensional(3D) reconstruction have been trained on large-scale datasets of perspective images; when tested on wide field-of-view images, e.g., from a fisheye camera, their performance degrades. This degradation arises from changes in spatial arrangements of pixels induced by the non-linear projection model that maps 3D points onto the 2D image plane. While one may surmise that training on fisheye images would resolve this problem, there are far fewer fisheye images with ground truth than perspective images, which limits generalization. To enable inference on imagery exhibiting high radial distortion, we propose Fisheye3R, a novel adaptation framework that extends these multi-view 3D reconstruction foundation models to natively accommodate fisheye inputs without performance regression on perspective images. To address the scarcity of fisheye images and ground truth, we introduce flexible learning schemes that support self-supervised adaptation using only unlabeled perspective images and supervised adaptation without any fisheye training data. Extensive experiments across three foundation models, including VGGT, π3 , and MapAnything, demonstrate that our approach consistently improves camera pose, depth, point map, and field-of-view estimation on fisheye images.Code is available at https://github.com/android-xr/fisheye3r.
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Using generative artificial intelligence with sensitive data may present challenges, as transmitting personally identifiable information or protected health information to third-party providers can introduce security risks, and some data masking techniques can reduce reasoning capabilities. A described system uses a proxy, masking layer that can intercept data within an enterprise's secure perimeter. This layer can substitute sensitive strings with persistent, structured semantic tokens that may be enriched with non-sensitive metadata hints to help preserve context. An external artificial intelligence can perform reasoning on this abstracted data, and its tokenized response can be re-hydrated into readable text on a client device (e.g., a smartphone, computer, or wearable device). This approach may allow third-party models to reason on proprietary information without direct access to the underlying plaintext data, which can assist organizations in managing data sovereignty while maintaining functional utility.
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Quantum Advantage in Topological Data Analysis via Mayer Homology
Anh Nghiem
Dominic Berry
Trung Phan
Guo-Wei Wei
Ryu Hayakawa
arXiv:2609.28058 (2026)
Preview abstract
Prior work has explored quantum algorithms for topological data analysis (TDA), revealing the possibility of exponential quantum speedups in estimating the ratios of Betti numbers to the dimension of the combinatorial Laplacian. However, this quantity is only non-vanishing and efficient-to-quantumly-estimate when Betti numbers are exponentially large, a case for which concrete examples are rarely known. Furthermore, certain randomized classical algorithms are sometimes efficient in this regime. Thus, the prospect of achieving quantum advantage in conventional TDA appears fairly narrow. Here, we address these challenges to the quantum advantage in TDA by developing quantum algorithms for Mayer homology, which generalize simplicial homology to N-nilpotent boundary operators (∂N=0) and have recently been successfully applied to real-world TDA contexts. We introduce an efficient quantum algorithm for estimating Mayer Betti numbers and their persistent counterparts. We then prove that for high-order simplices, Mayer Betti numbers are often exponentially large in the dense regime, which ameliorates the normalization bottleneck of conventional quantum TDA. In the same regime, we argue that existing dequantization algorithms developed for conventional TDA, when applied to Mayer homology, generally lose theoretical guaranties, facing certain structural barriers that prevent their practical utilities. We also provide logical resource estimates revealing that a quantum computer with roughly a few hundred qubits and sixty million Toffoli gates could solve Mayer homology problems beyond the capabilities of known classical approaches. Finally, we discuss real-world applications of Mayer homology in genomics, supersymmetry, drug discovery, and neuroscience, revealing the potential of our quantum algorithm to deliver real-world impacts via Mayer homology.
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XProf: An Open, Scalable and Extensible Profiling System for the Modern ML Stack
Robert Hundt
Naveen Kumar
Jose Baiocchi Paredes
Scott Goodson
Kelvin Le
Yin Zhang
Kan Cai
Sai Ganesh Bandiatmakuri
Yogesh SY
Ani Udipi
Vikas Aggarwal
Ninth Conference on Machine Learning and Systems (2026)
Preview abstract
Optimizing Large Models across thousands of accelerators requires deep system expertise. To address modern machine learning (ML) optimization needs, we present XProf, the ML profiler for the OpenXLA ecosystem. XProf delivers actionable optimization suggestions and in-depth performance analysis, empowering ML researchers and framework users to improve efficiency without specialized systems knowledge. XProf provides a unified, full-stack view of both host (CPU) and device (accelerator - TPUs/GPUs) performance, leveraging tools like the Roofline Model for comprehensive analysis. XProf’s distributed architecture is designed to monitor thousands of chips with minimal workload overhead (<1%). This architecture is made pluggable through the open-source PJRT C API extension, which has facilitated its adoption by third-party accelerator vendors. XProf has been instrumental in achieving significant efficiency gains at Google and winning MLPerf submissions. This paper presents the design and architecture of XProf, showcases its differentiating tools and capabilities, and highlights its impact within Google and across the industry as a state of the art ML profiler. XProf is available as part of the OpenXLA project at https://github.com/openxla/xprof.
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