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 11636 publications
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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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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PI-Hunter: Automated Red-Teaming for Exposing and Localizing Prompt Injections
Pengfei He
Vishesh Sharma
Ash Fox
George Lee
Jiliang Tang
2026
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Large Language Models (LLMs) are rapidly evolving into agentic systems that interact with external tools and dynamic environments, but this also introduces severe security risks. In particular, indirect prompt injection attacks can compromise agents through malicious instructions hidden in external sources such as web pages, emails, and retrieved documents. Existing defenses are largely reactive, while current automated red-teaming methods mainly optimize attack success rather than systematically uncovering hidden vulnerabilities within the agent pipeline. In this work, we propose PI-Hunter, an automated agentic red-teaming framework that shifts the focus from attack optimization to vulnerability exposure. By combining static attack-surface analysis, source-aware seeding, trajectory evaluation, and feedback-guided exploration, PI-Hunter proactively discovers vulnerable ingestion paths and localizes how malicious instructions propagate through agent reasoning. Extensive experiments across multiple benchmarks, agent architectures, attacks, and defenses show that \method~substantially improves vulnerability exposure and attack-surface coverage compared with existing automated red-teaming baselines, while remaining effective even under strong prompt injection defenses.
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Performance analysis of updated Sleep Tracking algorithms across Google and Fitbit wearable devices
Arno Charton
Linda Lei
Siddhant Swaroop
Marius Guerard
Michael Dixon
Logan Niehaus
Shao-Po Ma
Ross Wilkinson
Ryan Gillard
Conor Heneghan
Pramod Rudrapatna
Mark Malhotra
Shwetak Patel
Google, Google, 1600 Amphitheatre Parkway
Mountain View, CA 94043 (2026) (to appear)
Preview abstract
Background: The general public has increasingly adopted consumer wearables for sleep tracking over the past 15 years, but reports on performance versus gold standards such as polysomnogram (PSG), high quality sleep diaries and at-home portable EEG systems still show potential for improved performance. Two aspects in particular are worthy of consideration: (a) improved recognition of sleep sessions (times when a person is in bed and has attempted to sleep), and (b) improved accuracy on recognizing sleep stages relative to an accepted standard such as PSG.
Aims: This study aimed to: 1) provide an update on the methodology and performance of a system for correctly recognizing valid sleep sessions, and 2) detail an updated description of how sleep stages are calculated using accelerometer and inter-beat intervals
Methods: Novel machine learning algorithms were developed to recognize sleep sessions and sleep stages using accelerometer sensors and inter-beat intervals derived from the watch or tracker photoplethysmogram. Algorithms were developed on over 3000 nights of human-scored free-living sleep sessions from a representative population of 122 subjects, and then tested on an independent validation set of 47 users. Within sleep sessions, an algorithm was developed to recognize periods when the user was attempting to sleep (Time-Attempting-To-Sleep = TATS). For sleep stage estimation, an algorithm was trained on human expert-scored polysomnograms, and then tested on 50 withheld subject nights for its ability to recognize Wake, Light (N1/N2), Deep (N3) and REM sleep relative to expert scored labels.
Results: For sleep session estimation, the algorithm had at least 95% overlap on TATS with human consensus scoring for 94% of nights from healthy sleepers. For sleep stage estimation, comparing with the current Fitbit algorithm, Cohen’s kappa for four-class determination of sleep stage increased from an average of 0.56 (std 0.13) to 0.63 (std 0.12), and average accuracy increased from 71% (std 0.10) to 77% (std 0.078)
Conclusion: A set of new algorithms has been developed and tested on Fitbit and Pixel Watches and is capable of providing robust and accurate measurement of sleep in free-living environments.
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We study contextual bandits in the stochastic i.i.d.\ setting, where a learner observes contexts drawn from an unknown distribution, selects actions from a finite set $\cA$, and aims to identify an approximately optimal policy from a given class based on bandit feedback.
Motivated by the important special case of bandit multiclass classification with zero-one rewards, we focus on the \emph{$s$-sparse} setting in which, for every context, the underlying reward vector has $L_1$-norm at most $s \ll |\cA|$. Our main result is the design of algorithms that, with probability at least~$1-\delta$, output an $\eps$-optimal policy compared to policy class $\Pi$ using
\begin{align*}
\wt{O} \brk*{\brk*{\frac{s}{\eps^2} + \frac{|\cA|}{\eps}} \log \frac{|\Pi|}{\delta}}
\end{align*}
samples.
We further extend this bound to general Natarajan classes and complement it with a matching lower bound (up to logarithmic factors), thereby closing a substantial gap left by prior work~\citep{erez2024real,erez2024fast,erez2025bandit}, which incurred an additional $\Theta(|\cA|^9)$ dependence.
We obtain these results via two complementary approaches. First, we analyze contextual bandits through the lens of contextual decision making with structured observations, designing an exploration-by-optimization algorithm whose sample complexity is governed by the \emph{decision-estimation coefficient} (DEC; \citealp{foster2021statistical,foster2022complexity}). We show that, with $s$-sparse rewards, the induced model class admits a sharp DEC bound that scales with $s$ and directly yields the optimal rate. Since this approach is largely information-theoretic and involves solving complex min-max optimization problems, we also develop a second, more specialized algorithmic method based on a low-variance exploration technique. This approach leads to concrete, tractable algorithms and naturally extends to contextual combinatorial semi-bandits, leading to improved sample complexity guarantees for bandit multiclass list classification.
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In "Elephants, Goldfish and the New Golden Age of Software Engineering," the author discusses how AI is changing knowledge work, especially software development. Written from the perspective of April 2026, the article points out that while AI speeds up coding, it can also quickly generate a lot of mistakes and messy code if it isn't carefully managed by human oversight and clear processes.
The paper outlines a practical approach to working with AI, broken down into three main sections:
Using AI as a Tool, Not a Toy:
The author notes that people often get poor results by asking AI to do everything in a single prompt. Instead, users should have back-and-forth conversations with AI to question assumptions, set clear grading rules, and guide the research. The main point is that humans must still provide the final judgment; AI is simply a way to speed up and record that thinking.
The Elephant-Goldfish Model:
As AI creates more code than humans can easily read, written design documents become more important than the code itself. To keep AI on track, the author suggests a two-part method:
* The Elephant: A long chat session where the human and AI discuss ideas and write a detailed design document *before* any code is written. This session holds all of the project's background information and decisions.
* The Goldfish: A brand-new AI chat session with no memory. The human asks this "goldfish" to read the design document. If the goldfish cannot understand the plan based only on that document, the document needs more details.
* Only after the design document is clear enough for the goldfish to understand does the human ask the AI to write the code based on those strict instructions.
* Managing AI and the Future of Work:
The author expects that regular employees will soon act like managers, overseeing multiple AI helpers. Because of this, workers need to learn basic management skills, like how to delegate tasks and set clear boundaries. Also, since AI will handle routine chores, humans will need to practice focusing for longer periods to do deeper, harder thinking. Ultimately, a worker's value will come from their planning and decision-making skills, rather than their ability to type code.
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A roadmap for addressing the use of race and ethnicity in clinical algorithms
Divya Shanmugam
Sidhika Balachandar
Alexandra Chouldechova
James Diao
Kadija Ferryman
Arjun Manrai
Neil Powe
Emma Pierson
Deb Raji
Nature Health, 1 (2026), 789–791
Preview abstract
Removing race and ethnicity from clinical algorithms is feasible, but it requires careful evaluation of algorithmic changes and systemic efforts to address underlying disparities.
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GGN: Experiences in Designing and Deploying Next-Generation Google Global Network
Richard Alimi
Arda Balkanay
Nachikethas Jagadeesan
Bikash Koley
Warren Martins
Arjun Muralidharan
Namrata Pralhad Kadam
Aman Shaikh
Sankalp Singh
Charith Wickramaarachchi
Min Zhu
2026
Preview abstract
Cloud and AI/ML workloads are posing unprecedented new requirements on the wide-area network: it must combine strict availability, massive growth, and feature agility. It became increasingly clear that traditional WAN designs were ill-equipped to adapt to these requirements.
We present Google's Global Network (GGN), a major architectural redesign of our WAN that evolves B2 and B4 into a single, modular, and highly available software-defined network. The architecture is designed around three pillars: (1) A modular design of functional domains with well-defined APIs; (2) a physically sharded and regionalized core for fault isolation and horizontal scaling; (3) a vendor-agnostic hardware strategy based on open standards. We share the multi-year deployment journey of GGN, including a safe, host-steered migration strategy, and demonstrate its ability to improve network availability and reaction time to failures, setting a foundation for a planet-scale modern WAN.
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Large-scale software systems frequently suffer from architectural rigidity caused by monolithic designs, tightly coupled integrations, and legacy technology stacks. Backend-forFrontend (BFF) architectures are increasingly adopted to address these challenges by decoupling frontend-specific requirements from backend domain services. However, designing a BFF layer requires a series of irreversible technology decisions across compute platforms, traffic routing, programming languages, frameworks, and API protocols. These decisions directly influence system latency, scalability, operational complexity, and long-term maintainability. This paper proposes a structured, metrics-driven decision framework to guide architects through foundational technology choices when designing BFF architectures. The framework decomposes the decision space into independent sub-problems, introduces weighted evaluation criteria, and applies quantitative scoring models to enable objective trade-off analysis. The approach is validated through a representative modernization scenario, demonstrating how systematic evaluation reduces architectural risk, resolves stakeholder disagreement, and improves performance and developer efficiency. The proposed framework is generic, repeatable, and applicable to a wide range of cloudnative system modernization efforts.
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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)
Preview abstract
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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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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Learned Task Relationships in Multi-task Models
Naijing Zhang
Bosun Adeoti
Mike Leung
Florian Raudies
Yiping Yuan
Recsys (2026)
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We propose a framework that learns cross-task relationships in multi-task models by estimating the joint distribution of task labels. This approach improves performance via transfer learning and enhances information extraction. Although our framework applies to any multi-task system, we demonstrate its efficacy within YouTube’s production recommendation stacks. Experiments across the Notifications, Homepage, and Watch Next surfaces show improvements in both accuracy and satisfied user engagement. Finally, we propose a workflow template to facilitate broader future implementation.
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Towards AI as a Collaborative Partner: A Taxonomy of AI Agent Behavior in Software Engineering
Proceedings of the 3rd ACM International Conference on AI-Powered Software (AIware '26), ACM, Montreal, QC, Canada (2026) (to appear)
Preview abstract
The ongoing transition of Large Language Models (LLMs) in software engineering from one-shot code generators into agentic partners requires a shift in how we define and measure success. While models are becoming more capable, the industry lacks a clear understanding of the behavioral norms that make an interactive software engineering (SWE) agent effective in collaborative software development in the enterprise. This work addresses this gap by presenting a taxonomy of desirable SWE agent behaviors, synthesized from 91 sets of developer-defined rules for SWE agents and validated through interviewing 15 experienced professional developers. In this taxonomy, we identify four core expectations: Adhere to Standards and Processes, Ensure Code Quality and Reliability, Solve Problems Effectively, and Collaborate with the Developer. These findings offer a concrete vocabulary for aligning SWE agent behavior with developer preferences, enabling researchers and practitioners to move beyond correctness-only benchmarks and start designing evaluations that reflect the socio-technical nature of professional software development in enterprises.
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Claim-Gated Source-Risk Auditing for Generative Search
Chuhong Xu
Mark Zhou
Iris Qian
Zhaoyi Li
2026
Preview abstract
Generative search can cite a passage accurately
while omitting a material relationship that changes how the
passage should be interpreted. This paper introduces an original
methodological framework and implementation blueprint for
auditing that gap; it is not an AI detector, classifier, or empirical
performance study. The framework combines a five-dimensional
query–source–answer record, an operational source-role taxonomy,
a derived omission endpoint, and explicit rules for uncertainty
and human review. Its central contribution is a claim-gated
evaluation protocol specifying the sampling, evidence capture,
blinded annotation, adjudication, agreement, accuracy, calibration,
error analysis, and paired intervention tests required before
detector, prevalence, or defense-effect claims are admissible. A
1,000-row synthetic workbook serves only as a specification fixture
for testing serialization and machine-checkable invariants. Its
score vectors are normalized within 5 × 10−4
and its recorded
labels match their vector argmax, but it lacks the provenance and
independent labels required for semantic validation. We therefore
make no claim about Web prevalence, detector accuracy, or
deployment benefit. The result is an implementation-oriented
audit methodology with falsifiable evidence gates for future realWeb evaluation.
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Agent Gym: A Framework for Continuous Evaluation and Evolution of LLM Agents Through Human-in-the-Loop Feedback
Pouya Ghiasnezhad Omran
Michael Zimmermann
Duncan Cambridge
Ashmita Kapoor
Tanya Dixit
2026
Preview abstract
Large Language Model (LLM) agents deployed in production environments face a fundamental tension: the agent’s behavior is frozen at deployment time, while the business rules and edge cases it must handle continue to evolve. Existing approaches address agent construction and one-time evaluation but provide no structured mechanism for continuous post-deployment behavioral correction without modifying the agent’s source code. Most of the approaches offered in the market, require intense collection of logs and traces, and re-examining the agent design by the engineering team, a process which is heavy, long and negates the economical value of agentic transformation. We introduce Agent Gym, a modular, domain- agnostic framework that wraps any existing LLM-based agent in a continuous evaluation-and-evolution loop. The framework provides six composable capabilities — Act, Evaluate, Investigate, Correct, Learn, and Observe — organized across three architectural zones: a constitution layer that codifies domain knowledge in configuration artifacts, a runtime inference pipeline that chains acting, investigation, and adaptive correction, and a learning loop that enables subject matter experts to discover and validate new correction rules through natural language interaction. The key technical contributions include a hybrid deterministic-LLM correction engine with 21 condition operators and three-tier actions, a three-layer investigation architecture for ground-truth-free compliance validation, and a programmatic safety loop that guarantees rule correctness before human approval. We further introduce the Spec-to-Note Gap, an autoencoder-inspired view of agentic system transparency. An open-source reference implementation for invoice processing demonstrates that the framework is fully operational and ready for adoption.
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