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 11645 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)
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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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Modern transformers have been scaled up in size, data, training-time compute, and more recently test-time compute based on Chain-of-Thought (CoT), but the consequences of trading off these parameters are unknown. We construct explicit tradeoffs between two of these aspects: the number of layers in a transformer and the number of CoT tokens. Our first result is general: with mild assumptions and a single-token prompt, for any integer k, a transformer using soft attention and SwiGLU MLP layers with L layers and n CoT tokens can be converted to a transformer with at most ckL layers and ⌈n/k⌉ CoT tokens, and vice versa, although with an increase to the size of other parameters. We then a multi-token prompt path following task, finding that additional preprocessing from the multi-token prompt changes the depth-CoT relationship in this case. We construct an attention-only network with L layers and 2^(L−2) heads that can traverse 2^(L−1) − 1 edges along a path with a single CoT token, demonstrating at least an exponential relationship between increases in depth and reductions in the number of CoT tokens needed to traverse the entire path. This relationship for the path following task holds empirically as well, as demonstrated by training networks with up to 5 layers, with the tradeoff between depth and the maximum number of edge traversals in a single CoT token exactly matching our theoretical constructions.
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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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Generative AI (GenAI) is evolving from standalone tools to interconnected ecosystems that integrate chatbots, cloud platforms, and third-party services. While this ecosystem model enables personalization and extended services, it also introduces complex information flows and amplifies privacy risks. Existing solutions focus on system-level protections, offering little support for users to make meaningful privacy choices. To address this gap, we conducted two vignette-based survey studies with 486 participants and a followup interview study with 16 participants. We also explored users’ needs and preferences for privacy choice design across both GenAI personalization and data-sharing. Our results reveal paradoxical patterns: participants sometimes trusted third-party ecosystems more for personalization but perceived greater control in first-party ecosystems when data was shared externally. We discuss design implications for privacy choice interfaces that enhance transparency, control, and trust in GenAI ecosystems.
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Claim-Gated Source-Risk Auditing for Generative Search
Chuhong Xu
Mark Zhou
Iris Qian
Zhaoyi Li
2026
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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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Statistical evaluation aims to estimate the generalization performance of a model using held-out i.i.d. test data sampled from the ground-truth distribution. In supervised learning settings such as classification, performance metrics such as error rate are well-defined, and test error reliably approximates population error given sufficiently large datasets. In contrast, evaluation is more challenging for generative models due to their open-ended nature: it is unclear which metrics are appropriate and whether such metrics can be reliably evaluated from finite samples. In this work, we introduce a theoretical framework for evaluating language models and establish evaluability results for commonly used metrics. We study two categories of metrics: test-based metrics, including integral probability metrics (IPMs), and similarity-based metrics, including Rényi and KL divergences. We show that IPMs with respect to any bounded test class can be evaluated from finite samples up to multiplicative and additive approximation errors. Moreover, when the test class has finite fat-shattering dimension, IPMs can be evaluated with arbitrary precision. In contrast, similarity-based metrics, including Rényi and KL divergences, are not evaluable from finite samples, as their values can be critically determined by rare events. We also analyze the potential and limitations of perplexity as an evaluation method.
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Online Advertising with Spatial Interactions
Yifan Wang
Mingfei Zhao
Proceedings of the ACM Web Conference 2026, Association for Computing Machinery, New York, NY, USA, 213–224
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Online advertising platforms must decide how to allocate multiple ads across limited screen real estate, where each ad's effectiveness depends not only on its own placement but also on nearby ads competing for user attention. Such spatial externalities — arising from proximity, clutter, or crowding — can significantly alter welfare and revenue outcomes, yet existing auction and allocation models typically treat ad slots as independent or ordered along a single dimension. We introduce a new framework for spatial externalities in online advertising, in which the value of an ad depends on both its slot and the configuration of surrounding ads. We model ad slots as points in a metric space, and model an advertiser's value as a function of both their bid and a discount factor determined by the configuration of other displayed ads.
Within this framework, we analyze two natural models. For the Nearest-Neighbor model, where the value suppression depends only on the closest neighboring ad, we present a polynomial-time algorithm that achieves a constant approximation for the general case. We show that the allocation rule is monotone and can be implemented as a truthful mechanism. For a structured setting of 2D Euclidean space, we provide a PTAS. In contrast, for the Product-Distance model, where interference is aggregated multiplicatively across all neighbors, we establish a strong (and nearly-tight) hardness of approximation -- no polynomial-time algorithm can achieve any polynomial-factor approximation unless P=NP, via a reduction from Max-Independent-Set. Our results provide a foundation for reasoning about spatial externalities in ad allocation and for designing efficient, truthful mechanisms under such interactions.
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ToolGrad: Efficient Tool-use Dataset Generation with Textual "Gradients"
Kohei Uehara
Haoyu Zhang
Lin Gu
Zheng Xu
Tatsuya Harada
ACL 2026 (2026)
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Prior work synthesizes tool-use LLM datasets by first generating a user query, followed by complex tool-use annotations like depth-first search (DFS). This leads to inevitable annotation failures and low efficiency in data generation. We introduce ToolGrad, an agentic framework that inverts this paradigm. ToolGrad first constructs valid tool-use chains through an iterative process guided by textual "gradients", and then synthesizes corresponding user queries. This "answer-first" approach led to ToolGrad-500, a dataset generated with more complex tool use, lower cost, and almost 100% pass rate. Experiments show that ToolGrad models outperform those trained on expensive baseline datasets and proprietary LLMs.
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Prospective evidence for conversational medical AI is hard, but non-negotiable
Adam Rodman
Ami Parekh
Ethan Goh
Christina Chen
Joelle Barral
Nature Medicine (2026)
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Trust in clinical artificial intelligence (AI) cannot be benchmarked into existence. It must be earned through rigorous prospective studies in real-world clinical settings, where the hardest lessons often concern the humans and systems around the AI, not the technology itself.
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AI-PROPELLER: Warehouse-Scale Inter-Procedural Code Layout Optimization with AlphaEvolve
Chaitanya Mamatha Ananda
Rajiv Gupta
Aiden Grossman
2026
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Post-link optimizers (PLOs) such as Propeller and BOLT have demonstrated that precise, profile-guided code layout can extract significant performance gains from heavily optimized binaries. However, these systems are currently restricted to intra-procedural techniques, leaving the global potential of inter-procedural layout largely untapped. Inter-procedural code layout is historically difficult due to a combinatorially intractable search space and complex call-return semantics that are challenging to model. Consequently, the performance potential of fine-grained inter-procedural layout remains unproven in practice.Ours uses AlphaEvolve, an agentic workflow to evolve the compiler heuristic in Propeller into a fine-grained inter-procedural optimizer. While AlphaEvolve synthesizes novel code layout policies, Vizier fine-tunes the resulting policy hyperparameters.
To ensure high-fidelity, we move away from approximate static cost models and the agentic workflow generates multiple layout variants that are executed on actual hardware to measure real performance counters, providing a precise reward signal for the evolutionary loop. Ours has been evaluated on several benchmarks including large warehouse-scale applications and experiments show performance improvements of 0.23% to 1.6% on these benchmarks optimized with state-of-the-art FDO and PLO.
This is the first time ever that real-world applications have been optimized with fine-grained inter-procedural code layout.
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Enterprise service centers, particularly in domains like People Operations, are critical hubs of organizational knowledge work. They face a persistent difficulty in disseminating the tacit, case-specific expertise of senior agents, which can lead to inconsistent service and slower onboarding for new hires. While existing Knowledge Management (KM) and Case-Based Reasoning (CBR) systems have improved the retrieval of historically similar cases, they inadvertently shift the cognitive burden of synthesizing this information to the time-constrained agent. This paper introduces the Dynamic Case Precedent (DCP) architecture, a novel socio-technical framework designed to address this gap. The DCP architecture moves beyond simple precedent recommendation to automated precedent synthesis. It achieves this by integrating a semantic retrieval model with the large-context reasoning capabilities of a generative Large Language Model (LLM). We propose a three-pillar framework—(1) Contextual Similarity Indexing, (2) Generative Insight Synthesis, and (3) Human-in-the-Loop Refinement. By analyzing multiple relevant historical cases to generate a concise summary of resolution patterns, the DCP architecture aims to reduce agent cognitive load, accelerate proficiency, and improve service consistency. This conceptual framework offers a new model for human-AI collaboration, framing the AI not as a mere information tool, but as an active partner in sensemaking.
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From Unfinished to Done: Bridging the MDE Implementation Gap with Constrained LLMs
Jörg Christian Kirchhof
Lukas Netz
Dennis Mertens
Bernhard Rumpe
Proceedings of the ACM/IEEE 29th International Conference on Model Driven Engineering Languages and Systems, ACM (2026), pp. 152-163
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Model-driven engineering (MDE) excels at ensuring architectural consistency and managing complexity, yet extending generated code skeletons with project-specific business logic often remains a time-consuming manual task. Conversely, large language models (LLMs) offer immense flexibility in coding but may produce vibe-coded results—software that looks correct but fails to adhere to intended architectures and implicit requirements. An open challenge lies in harnessing the adaptability of LLMs to handle implementation details without sacrificing the deterministic correctness of the MDE scaffolding. Previous attempts have largely relied on unconstrained coding assistants or required a human in the loop for interacting with the LLM. To overcome this, we introduce Agentic Gap Filling, a hybrid pipeline where LLM prompts are embedded directly within the model to drive the generation of code skeletons. The generated code contains protected TODO regions, which LLM agents subsequently resolve and a jury of LLM review agents and separate testing agents immediately validates. We integrate this approach into the MontiThings framework, demonstrating a workflow where models define the architecture of a project while artificial intelligence (AI) agents act as developers and reviewers, filling in the logic. This synergy ensures the structural integrity of the generated system while providing the flexibility of LLMs to adapt to various domain requirements. Our evaluation across 32 test configurations demonstrates that this multiagent workflow achieves up to 93.21% functional accuracy after four iterations, while preserving the structural integrity of the generated system.
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Large language models (LLMs) are trained on web-scale corpora that exhibit steep power-law distributions, in which the distribution of knowledge is highly long-tailed, with most appearing infrequently. While scaling has improved average-case performance, persistent failures on low-frequency, domain-specific, cultural, and temporal knowledge remain poorly characterized. This paper develops a structured taxonomy and analysis of long-tail knowledge in large language models, synthesizing prior work across technical and sociotechnical perspectives.
We organize the literature along four complementary axes: how long-tail knowledge is defined, the mechanisms by which it is lost or distorted during training and inference, the technical interventions proposed to mitigate these failures, and the implications of these failures for fairness, accountability, transparency, and user trust. We further examine how existing evaluation practices obscure tail behavior and complicate accountability for rare but consequential failures. The paper concludes by identifying open challenges related to privacy, sustainability, and governance that constrain long-tail knowledge representation. Taken together, this paper provides a unifying conceptual framework for understanding how long-tail knowledge is defined, lost, evaluated, and manifested in deployed language model systems.
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Neural general circulation models for modeling precipitation
Stephan Hoyer
Dmitrii Kochkov
Janni Yuval
Ian Langmore
Science Advances (2026)
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Climate models struggle to accurately simulate precipitation, particularly extremes and the diurnal cycle. While hybrid models combining machine learning and physics have emerged with the premise of improving precipitation simulations, none have proven sufficiently skillful or stable enough to outperform existing models in simulating precipitation.
Here, we present the first hybrid model that is trained directly on precipitation observations. The model runs at 2.8 degrees resolution and is built on the differentiable NeuralGCM framework. This model is stable for decadal simulations and demonstrates significant improvements over existing GCMs, ERA5 reanalysis, and a Global Cloud-Resolving Model in simulating precipitation. Our approach yields reduced biases, a more realistic precipitation distribution, improved representation of extremes, and a more accurate diurnal cycle.
Furthermore, it outperforms the ECMWF ensemble for mid-range weather forecasting.
This advance paves the way for more reliable simulations of current climate and for the ability to fully utilize the abundance of existing observations to further improve GCMs.
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UniGeoCLIP: Unified Geospatial Contrastive Learning
Guillaume Astruc
Jan Hosang
Loic Landrieu
Paul-Edouard Sarlin
EarthVision Workshop at CVPR (2026)
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The growing availability of co-located geospatial data spanning aerial imagery, street-level views, elevation models, text, and geographic coordinates offers a unique opportunity for multimodal representation learning. We introduce UNIGEOCLIP, a massively multimodal contrastive framework to jointly align five complementary geospatial modalities in a single unified embedding space. Unlike prior approaches that fuse modalities or rely on a central pivot representation, our method performs all-to-all contrastive alignment, enabling seamless comparison, retrieval, and reasoning across arbitrary combinations of modalities. We further propose a scaled latitude-longitude encoder that improves spatial representation by capturing multi-scale geographic structure. Extensive experiments across downstream geospatial tasks demonstrate that UNIGEOCLIP consistently outperforms single-modality contrastive models and coordinate-only baselines, highlighting the benefits of holistic multimodal geospatial alignment. A reference implementation is available at https://gastruc.github.io/unigeoclip.
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