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 11637 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)
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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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This talk addresses the challenges of operating Google's monitoring systems at scale, handling terabytes of telemetry data and preventing overload from diverse workloads. We'll explore how Google's internal client library and Monarch, its planet-scale time-series database, work together for cost-effective data collection. Key principles include a distributed push model, dynamic client-side data reduction, centralized retention, and periodic metric analysis. The session will then bridge these concepts to the open-source world, discussing our work with OpenTelemetry's OpAMP protocol to achieve similar scalable and efficient telemetry collection. Attendees will gain insights into adapting these principles for cost savings and learn about our collaboration with the OpAMP SIG to benefit the broader community.
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Usability Hasn’t Peaked: Exploring How Expressive Design Overcomes the Usability Plateau
Alyssa Sheehan
Bianca Gallardo
Ying Wang
Proceedings of the 2026 CHI Conference on Human Factors in Computing Systems (CHI ’26), April 13–17, 2026, Barcelona, Spain (2026)
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Critics have argued that mobile usability has largely been optimized, and that only incremental gains are possible. We set out to explore if the newest generation of design systems, which promote greater flexibility and a return to design basics, could produce substantially more usable designs while maintaining or increasing aesthetic judgments. Through a study with 48 diverse participants completing tasks in 10 different applications, we found that in designs created following Material 3 Expressive guidelines, users fixated on the correct screen element for a task 33% faster, completed tasks 20% faster, and rated experiences more positively compared to versions designed using the previous Material design system. These improvements in performance and aesthetic ratings challenge the premise of a usability plateau and show that mobile usability has not peaked. We illustrate specific opportunities to make mobile experiences more usable by returning to design fundamentals while highlighting risks of added flexibility.
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Ideation, i. e., generating, capturing, organizing, and evaluating ideas, is foundational to creative practices; yet little is known about how blind and low vision ( BLV) creators engage in ideation. We conducted interviews with 20 BLV creators working in different domains including poetry, music production, tactile graphics, digital drawing, and mixed- media arts. Our findings reveal how participants established accessible creative workflows under social and institutional constraints, drew inspiration from diverse physical and digital sources, captured and organized ideas across text, audio, visual, and physical modalities, and evaluated their work through human and AI feedback. We discuss how ableist norms and accessibility breakdowns cascade across ideation pathways, progressively narrowing BLV individuals’ creative possibilities. Finally, we offer design considerations for building accessible ideation support tools that amplify BLV creators’ distinctive practices.
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We analyze a balls-and-bins game against an adaptive adversary that sequentially deletes bins. Starting with n balls distributed across n bins, the adversary deletes a bin in each step, forcing the algorithm to redistribute its balls to surviving bins. We prove that after n/2 rounds, uniform random redistribution yields optimal O(n) recourse and $O(\frac{\log n}{\log \log n})$ maximum load. Furthermore, we show that applying the "power of two choices"' reduces the maximum load to $O(\log \log n)$ while maintaining linear recourse.
We also consider a variation of this game where the balls from the deleted bin are partitioned evenly among d<
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The Private Aggregation of Teacher Ensembles (PATE) framework enables privacy-preserving machine learning by aggregating responses from disjoint subsets of sensitive data. Adaptations of PATE to tasks with inherent output diversity such as text generation, where the desired output is a sample from a distribution, face a core tension: as diversity increases, samples from different teachers are less likely to agree, but lower agreement results in reduced utility for the same privacy requirements. Yet suppressing diversity to artificially increase agreement is undesirable, as it distorts the output of the underlying model, and thus reduces output quality.
We propose Hot PATE, a variant of PATE designed for diverse generative settings. We formalize the notion of a diversity-preserving ensemble sampler and introduce an efficient sampler that provably transfers diversity without incurring additional privacy cost. Hot PATE requires only API access to proprietary models and can be used as a drop-in replacement for existing Cold PATE samplers. Our empirical evaluations corroborate and quantify the benefits, showing significant improvements in the privacy–utility trade-off on evaluated in-context learning tasks, both in preserving diversity and in returning relevant responses.
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Trust, but Validate the Instrument: Auditing AI-Generated RTL Verification Plans on Authored Security-Regression Proxies
Hang Xiao
Chuhong Xu
Mark Zhou
Iris Qian
Annabel Yi
2026
Preview abstract
AI-generated RTL verification plans can satisfy a
provider schema yet fail at the boundary to trusted execution.
We present SecTB-RTL, an auditable framework covering
31 tasks and 124 authored hardware-security regressions. A
deterministic non-AI baseline killed 36, 75, and 78 mutants at
increasing resource limits. C1-R2 then failed at provider schema
prevalidation. After an outcome-blind schema repair, a 1,860-
call run completed with 1,857 provider-accepted responses, but
only nine passed the production semantic validator because
the generation-facing and execution contracts disagreed. We
therefore preserve the run as an instrument-validation incident
and report no prompt-effect estimate. The incident directly shows
that provider/schema acceptance is not evidence of execution
validity; our contract likewise treats compilation and structural
coverage only as diagnostics until the exact persisted artifact
passes the production path. A subsequent follow-up is excluded
because it did not satisfy the preregistered evidence-completeness
gate and is treated only as future work. We release the benchmark,
failure-preserving contract, incident provenance, and governance
controls needed to prevent infrastructure behavior from being
misreported as model behavior.
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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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Temporally consistent long video generation remains a fundamental challenge. Existing methods suffer from feature drift, where entities and environments gradually change unintentionally, or content collapse, where narratives fail to progress meaningfully. We introduce A${^2}$RD, an agentic autoregressive video generation architecture that decouples creative synthesis from consistency by modeling consistency as a test-time objective. A${^2}$RD features segment-by-segment generation augmented with a novel Multimodal Video Memory (\memory{}) that tracks segment contexts and dynamics and Test-Time Scaling algorithms that verify and refine generation. For each segment, it operates in a Retrieve--Synthesize--Refine--Update (RSRU) loop: the agent retrieves relevant contexts, determines the segment generation mode (extrapolation or interpolation) adaptively, synthesizes boundary frames then video segment with refinements applied at both frame and video levels, and updates \memory{} for subsequent generation. We further develop LVbench-C, a challenging benchmark measuring long-horizon entities and environments evolving in non-linear transitions. Extensive experiments on public and LVbench-C benchmarks across one-, three-, and five-minute video generation demonstrate that A${^2}$RD generates significantly more consistent, meaningful videos than existing baselines. Human evaluations confirm strong consistency in characters, objects, and environments, with smooth motion and meaningful narrative progression.
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Optimizing large-language model (LLM) training and serving on large-sacle distributed systems with hundreds and thousands of accelerators is always a challenging task due to the fast evloving LLMs, strong domain expertise required, and various optimization goals from different worklaods. Existing methods rely on either handcrafted optimization performed by human experts, which is tedious and time-consuming or resource-intensive black-box searches, which lack the extensibility to keep pace with evolving models and hardware. To address this, we introduce PROMPTS, a novel multi-agent framework that complements traditional search methods with expert-informed reasoning. It automates the diagnosis of performance bottlenecks by synthesizing profiler data and leverages a knowledge base to propose optimized sharding configurations with detailed justifications.
Across eight real-world production workloads, PROMPTS demonstrated remarkable efficiency and accuracy, delivering performance improvements of up to 434%. These workloads spanned diverse model architectures, hardware platforms, computational scales, and various stages of the machine learning lifecycle (pre-training, serving, and post-training). In every case, the configuration adopted by human engineers was identified within the agent's top three proposals from a single invocation. Furthermore, the agent's top-ranked recommendation was the one ultimately adopted in 87.5% of cases, showcasing its ability to not only find optimized solutions, but also to correctly prioritize them. Our work establishes PROMPTS as a scalable, extensible, and explainable methodology for AI-assisted performance engineering in large-scale ML systems.
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The Abkhaz-Adyghe and Nakh-Daghestanian language families encompass 35 living languages that possess arguably the most complex modern Cyrillic orthographies due to their very sophisticated phonology. The relevant online data displays idiosyncratic patterns among which the use of confusable characters in input methods is the most prevalent. This work studies one such character---letter \emph{palochka}---that is shared by most writing systems in question. We investigate whether the patterns including variants of this character alone can act as language data markers when mining these languages in a large-scale web-crawled data. Using a wide-coverage off-the-shelf LID model (GlotLID) we further investigate the data mined using such patterns and estimate the effects of confusable character normalization on quality of paragraph-level LID predictions in 14 supported languages. According to GlotLID, the normalization significantly increases the recall (discovery of new language data) for some languages while degrading it for others. However, manual evaluation reveals that only 41\% of wins and 46\% of losses are accurate due to GlotLID prediction errors. We argue that despite finding useful signal higher precision LID approaches tailored to these long-tail languages are needed to improve the quality of mined data.
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Multi-Agent Design: Optimizing Agents with Better Prompts and Topologies
Han Zhou
Shariq Iqbal
Ivan Vulić
Anna Korhonen
International Conference on Learning Representations (ICLR) (2026)
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Large language models (LLMs), employed as multiple agents that interact and collaborate with each other, have excelled at solving complex tasks. The agents are programmed with {prompts} that declare their functionality, along with the {workflows} that orchestrate interactions within a structured flow. Designing prompts and workflows for multi-agent systems is inherently complex, especially when addressing a new task. It often demands expert-level knowledge and involves significant trial and error. Gaining a deep understanding of the factors that contribute to effective multi-agent systems is essential for automating the entire process. Motivated by this, we first conduct an in-depth analysis of the design spaces for multi-agent systems, focusing on the impact of prompts, scaling the number of agents, and common types of agentic modules. Our findings reveal that top-performing systems often emerge from simpler design spaces, where prompts play a critical role in enhancing agent functionality and enabling more effective scaling. Based on the insights, we propose Multi-Agent System Search (MASS), a multi-stage optimization framework that performs the optimization in a pruned design space, with prompts and an influential subset of modules. We show that MASS-optimized multi-agent systems outperform existing alterntives by a substantial margin. Based on the MASS-found systems, we finally propose design principles behind building effective multi-agent systems.
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"You Have Been Selected as the Winner": Characterizing User-Reported Scams on TikTok
Smirity Kaushik
Kyle Beadle
Gauri Nayak
Madelyn Rose Sanfilippo
Mainack Mondal
Yang Wang
JingJei Li
Yixin Zou
USENIX Symposium on Usable Privacy and Security (SOUPS) (2026)
Preview abstract
Short-form video platforms (SVPs) such as TikTok have grown rapidly in popularity. While online scams have been extensively studied, the extent to which they take new forms on SVPs and the discourses around them remain understudied. Using TikTok as a case study, we analyzed 150 videos in which content creators reported scam experiences and offered anti-scam advice. We focus on how TikTok users (creators, followers, and commenters) discuss scams, rather than analyzing scams. Our analysis surfaces six types of scams, including creator impersonation and account badge verification scams that target TikTok's influencer-follower ecosystem. Scammers also exploit platform-specific features (e.g., direct messaging or the "For You Page") to lure victims. In response, TikTok users share strategies to identify scammer profiles and communication cues, building community support through anti-scam advice. Based on our findings, we offer recommendations for systemizing platform support to combat scams and leveraging the influencer ecosystem to raise awareness.
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What’s on My Network? Using Large Language Models to Identify Real-World IoT Devices at Scale
Rameen Mahmood
Danny Yuxing Huang
Proceedings of ACM International Conference on Emerging Networking Experiments and Technologies (CoNEXT), Association for Computing Machinery (2026)
