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 11557 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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Model Checking for Flexible Networking Protocols
Andrew Johnson
Sean Song
Proceedings of the 38th International Conference on Computer Aided Verification (CAV 2026)
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Operating a network is a daunting task. Operating one at a global scale, with stringent service objectives and requirements to be available during maintenance and failures, is even more so. At Google, we operate such a network. This paper details our experience applying formal methods to some of the networking protocols that are developed and maintained by in-house engineers. These protocols centrally route network traffic to respond to changes in demand, react to network failures, and allow for maintenance and upgrades.
We used formal methods to target a class of bugs stemming from unclear specifications, unintended system interactions, and logical errors at the specification level. We show how we modeled our protocols using an off-the-shelf model checker and a custom harness to scale the model horizontally. We were able to recreate several recent bugs and verify that the fixes implemented were correct. Finally, we present a method called state projection that we used to increase confidence in the coverage of our models, which we added to the TLC model checker for TLA+. We created 7 different TLA+ models and showed that they were effective at recreating bugs and verifying our fixes to those bugs.
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Location Not Found: Exposing Implicit Local and Global Biases in Multilingual LLMs
Guy Mor-Lan
Omer Goldman
Matan Eyal
Adi Mayrav Gilady
Sivan Eiger
Reut Tsarfaty
ACL (2026) (to appear)
Preview abstract
Multilingual large language models (LLMs) have minimized the fluency gap between languages. This advancement, however, exposes models to the risk of biased behavior, as knowledge and norms may propagate across languages. In this work, we aim to quantify models' inter- and intra-lingual biases, via their ability to answer locale-ambiguous questions. To this end, we present LocQA, a test set containing 2,156 questions in 12 languages, referring to various locale-dependent facts such as laws, dates, and measurements. The questions do not contain indications of the locales they relate to, other than the querying language itself. LLMs' responses to LocQA locale-ambiguous questions thus reveal models' implicit priors. We used LocQA to evaluate 32 models, and detected two types of structural biases. Inter-lingually, we show a global bias towards answers relevant to the US-locale, even when models are asked in languages other than English. Moreover, we discovered that this global bias is exacerbated in models that underwent instruction tuning, compared to their base counterparts. Intra-lingually, we show that when multiple locales are relevant for the same language, models act as demographic probability engines, prioritizing locales with larger populations. Taken together, insights from LocQA may help in shaping LLMs' desired local behavior, and in quantifying the impact of various training phases on different kinds of biases.
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QBAT: Model-based Query Budget Autotuner for Clustering-based Approximate Nearest Neighbor Search
Jonghyun Bae
Tae Jun Ham
Alan Li
Yannis Papakonstantinou
Proceedings of the VLDB Endowment (2026), pp. 3091-3104
Preview abstract
Approximate nearest neighbor search (ANNS) is a critical component in modern data-intensive applications, but its performance is often hindered by the use of a static query budget parameter. This one-size-fits-all approach, even if well-tuned, fails to account for the varying difficulty of individual queries, inevitably leading to suboptimal latency on easy queries and poor accuracy on hard ones. This paper introduces QBAT, a query-aware budget autotuner designed to resolve this dilemma. By analyzing query-specific features offline, QBAT dynamically allocates an appropriate budget for each query. We explore two predictive models: a highly accurate gradient-boosted decision tree and a simple, interpretable heuristic formula derived using the AlphaEvolve framework. These models can optimize budget allocation for both system performance or recall consistency priorities. Evaluations on large-scale datasets demonstrate that QBAT reduces total searched budget by up to 68.8% in the consistency mode on ScaNN, the state-of-the-art clustering-based ANNS method, while simultaneously enforcing a strict per-query recall target, a scenario where static budgets are notoriously inefficient and wasteful.
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An Empirical Study of Tablet Ergonomics: The Interplay of Temperature, Orientation, and Use Behaviors
Carmen Van Ommen
Mikki Phan
Arun Raghupathy
Daniel Huynh
Barbara Chaparro
Ergonomics in Design: The Quarterly of Human Factors Applications Journal (2026)
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To balance computational performance with thermal comfort, this study explores a consolidated hotspot architecture at the top center of a tablet. We tested hotspot (39°C, 43°C, 45°C, 47°C) and ambient temperatures (25°C, 35°C) with 60 participants, measuring perception, action likelihood, and expectation. The hotspot was observed away from high contact areas, with 43°C identified as the threshold for significant discomfort. Discomfort increased with portrait mode use and higher device and ambient temperatures, while active use duration influenced acceptability. The findings underscore the importance of thermal mapping and contextual sensing, with direct applications for software throttling thresholds of coated aluminum enclosures.
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Preview abstract
We study the computational cost of differential privacy in terms of memory
efficiency. While the trade-off between accuracy and differential privacy is
well-understood, the inherent cost of privacy regarding memory use remains
largely unexplored. This paper establishes for the first time an unconditional
space lower bound for user-level differential privacy by introducing a novel
proof technique based on a multi-player communication game.
Central to our approach, this game formally links the hardness of low-memory
private algorithms to the necessity of ``contribution capping''---tracking and
limiting the users who disproportionately impact the dataset. We demonstrate
that winning this communication game requires transmitting information
proportional to the number of over-active users, which translates directly to
memory lower bounds.
We apply this framework, as an example, to the fundamental problem of
estimating the number of distinct elements in a stream and we prove that any
private algorithm requires almost $\widetilde{\Omega}(T^{1/3})$ space to
achieve certain error rates in a promise variant of the problem. This resolves
an open problem in the literature (by Jain et al. NeurIPS 2023 and Cummings et
al. ICML 2025) and establishes the first exponential separation between the
space complexity of private algorithms and their non-private $\widetilde{O}(1)$
counterparts for a natural statistical estimation task. Furthermore, we show
that this communication-theoretic technique generalizes to broad classes of
problems, yielding lower bounds for private medians, quantiles, and max-select.
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Preview abstract
We revisit the distributed counting problem, where a server must continuously approximate the total number of events occurring across $k$ sites while minimizing communication. The communication complexity of this problem is known to be $\Theta(\frac{k}{\eps}\log N)$ for deterministic protocols. Huang, Yi, and Zhang (2012) showed that randomization can reduce this to $\Theta(\frac{\sqrt{k}}{\eps}\log N)$, but their analysis is restricted to the oblivious setting, where the stream of events is independent of the protocol's outputs.
Xiong, Zhu, and Huang (2023) presented a robust protocol for distributed counting that removes the oblivious assumption. However, their communication complexity is suboptimal by a polylog(k) factor and their protocol is substantially more complex than the oblivious protocol of Huang et al. (2012). This left open a natural question: could it be that the simple protocol of Huang et al. (2012) is already robust?
We resolve this question with two main contributions. First, we show that the protocol of Huang et al. (2012) is itself not robust by constructing an explicit adaptive attack that forces it to lose its accuracy. Second, we present a new, surprisingly simple, robust protocol for distributed counting that achieves the optimal communication complexity of $O(\frac{\sqrt{k}}{\eps} \log N)$. Our protocol is simpler than that of Xiong et al. (2023), perhaps even simpler than that of Huang et al. (2012), and is the first to match the optimal oblivious complexity in the adaptive setting.
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What does your wearable know about the festive season?
Justin Phillips
Abram Schönfeldt
YongSuk Cho
Conor Heneghan
Robert Harle
(2026)
Preview abstract
As we reach the end of the year and people look forward to spending quality time with loved ones, here at Fitbit, we wonder what our Pixel watches and Fitbit trackers can tell us about how we are spending the festive season. We looked at the data of 11.8 million of our users all over the world between January 2022 and July 2025. Here are the key stats we wanted to share with you!
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XMob: Accelerated Differentiable Mesoscopic Traffic Simulation in JAX
Sam Griesemer
John Burge
Shantanu Shahane
Yechen Li
Naples, Italy (2026)
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This paper introduces XMob, a novel differentiable traffic simulation framework built in JAX to advance traditional models like SUMO’s mesoscopic simulator. By leveraging JAX’s capabilities for vectorized, hardware-accelerated computation (GPU/TPU), XMob achieves orders-of-magnitude speedups, enabling large-scale urban network simulations and extensive counterfactual analyses. A key innovation is XMob’s inherent differentiability, facilitating direct integration with gradient-based optimization for tasks such as demand calibration and network parameter estimation, significantly outperforming black-box approaches. Furthermore, XMob can be used in Physics-Informed Machine Learning (PIML) pipelines to enhance data-driven augmentation, embedding domain principles like flow conservation and shockwave theory. This ensures physically plausible and robust predictions, even for unobserved scenarios such as lane modifications. The hybrid architecture, combining a deterministic JAX core with incremental machine learning, offers a scalable and efficient solution for modern traffic simulation and optimization challenges.
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Toward a test of medical AI superintelligence
Ethan Goh
David Wu
Chase Walton
Liam McCoy
Anastasia Perez
Laura Wegner
Fateme Nateghi Haredasht
Luyang Luo
Kathleen Lacar
Thomas Buckley
Austin Schoeffler
Peter Brodeur
Kameron C. Black
John Havlik
John Rumsfeld
Daniel Lopez-martinez
Paxton Maeder-York
Karan Singhal
David Gunning
Bon Ku
Haider Warraich
Shantanu Nundy
Vishnu Ravi
Arnold Milstein
Jason Hom
Kevin Schulman
Pranav Rajpurkar
Arjun Manrai
Robert Wachter, MD
Eric Topol
Eric horvitz
Adam Rodman
Jonathan Chen
Nature Medicine (2026)
Preview abstract
Researchers urgently need a rigorous, task-based framework to define and measure medical AI ‘superintelligence’, because existing benchmarks are misleading and insufficient.
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A Framework for Interactive Machine Learning and Enhanced Conversational Systems
Jerry Young
Richard Abisla
Sanjay Batra
Mikki Phan
Nature, Springer-Verlag (2026)
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Conversational systems are increasingly prevalent, yet current versions often fail to support the full range of human speech, including variations in speed, rhythm, syntax, grammar, articulation, and resonance. This reduces their utility for individuals with dysarthria, apraxia, dysphonia, and other language and speech-related disabilities. Building on research that emphasizes the need for specialized datasets and model training tools, our study uses a scaffolded approach to understand the ideal model training and voice recording process. Our findings highlight two distinct user flows for improving model training and provide six guidelines for future conversational system-related co-design frameworks. This study offers important insights on creating more effective conversational systems by emphasizing the need to integrate interactive machine learning into training strategies.
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MAGE: Modality-Agnostic Music Generation and Editing
Muhammad Usama Saleem
Ravi Tejasvi
Rajeev Nongpiur
Mayur Jagdishbhai Patel
Pu Wang
2026
Preview abstract
Multimodal music creation requires models that can both generate audio from high-level cues and edit existing mixtures in a targeted manner. Yet most multimodal music systems are built for a single task and a fixed prompting interface, making their conditioning brittle when guidance is ambiguous, temporally misaligned, or partially missing. Common additive fusion or feature concatenation further weakens cross-modal grounding, often causing prompt drift and spurious musical content during generation and editing. We propose MAGE, a modality-agnostic framework that unifies multimodal music generation and mixture-grounded editing within a single continuous latent formulation. At its core, MAGE uses a Controlled Multimodal FluxFormer, a flow-based Transformer that learns controllable latent trajectories for synthesis and editing under any available subset of conditions. To improve grounding, we introduce Audio-Visual Nexus Alignment to select temporally consistent visual evidence for the audio timeline, and a cross-gated modulation mechanism that applies multiplicative control from aligned visual and textual cues to the audio latents, suppressing unsupported components rather than injecting them. Finally, we train with a dynamic modality-masking curriculum that exposes the model to text-only, visual-only, joint multimodal, and mixture-guided settings, enabling robust inference under missing modalities without training separate models. Experiments on the MUSIC benchmark show that MAGE supports effective multimodal-guided music generation and targeted editing, achieving competitive quality while offering a lightweight and flexible interface tailored to practical music workflows.
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FreshBrew: A Benchmark for Evaluating AI Agents on Java Code Migration
Victor May
Diganta Misra
Yanqi Luo
Anjali Sridhar
Justine Gehring
Silvio Soares Ribeiro Junior
2026
Preview abstract
AI coding assistants are rapidly becoming integral to modern software development. A key challenge in this space is the continual need to migrate and modernize codebases in response to evolving software ecosystems. Traditionally, such migrations have relied on rule-based systems and human intervention. With the advent of powerful large language models (LLMs), AI-driven agentic frameworks offer a promising alternative—but their effectiveness remains underexplored. In this paper, we introduce FreshBrew, a novel benchmark for evaluating AI-based agentic frameworks on project-level Java migrations. We benchmark several such frameworks, powered by state-of-the-art LLMs, and compare their performance against established rule-based tools. Our evaluation of AI agents on this benchmark of 228 repositories shows that the top-performing model, Gemini 2.5 Flash, can successfully migrate 56.5% of projects to JDK 17. Our empirical analysis reveals novel insights into the critical strengths and limitations of current agentic approaches, offering actionable insights into their real-world applicability. By releasing FreshBrew publicly upon acceptance, we aim to facilitate rigorous, reproducible evaluation and catalyze progress in AI-driven codebase modernization.
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Differential Sensitivity of Impedance Plethysmography and Photoplethysmography Sensors to Temperature-Induced Peripheral Vasoconstriction
Seobin Jung
Seamus Thomson
Alexandros Pantelopoulos
Lindsey Sunden
Pete Richards
Shwetak Patel
Sam Sheng
Scientific Reports (2026)
Preview abstract
Impedance plethysmography (IPG) and photoplethysmography (PPG) are non-invasive techniques for measuring blood volume changes. This study investigated the differential responses of IPG and PPG to temperature-mediated vasoconstriction induced by localized cooling. Twenty-one participants underwent control and treatment conditions, with fake or real ice cubes applied to the forearm. Blood pressure remained stable, while heart rate decreased. PPG signal amplitude significantly decreased with cooling (p_adj = 0.004), indicating sensitivity to superficial blood flow changes. In contrast, IPG signal amplitude remained stable (p_adj = 1.0). No statistically significant differences were observed in timing-derived metrics. These findings suggest IPG is less sensitive to superficial changes in blood flow than PPG, and may be more suitable for monitoring deeper blood flow. This study provides insights into the distinct sensitivities of IPG and PPG, with implications for wearable device development and cardiovascular monitoring.
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