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 11622 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)
Preview abstract
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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Taming the Variants Multi-Architecture Continuous Testing at Google
Chandrakanth Chittappa
Ali Esmaeeli
Laura Macaddino
Sam Manfreda
David Margolin
Dharma Naidu
Sabuj Pattanayek
Sachin Sable
Ruslan Sakevych
Dushyant Acharya
Adrian Berding
Kevin Crossan
Wolff Dobson
Abhay Singh
19th IEEE International Conference on Software Testing, Verification and Validation (ICST) 2026, Daejeon, Republic of Korea, IEEE
Preview abstract
Enterprises are increasingly adopting multiple general-purpose computer architectures in the data center. This leads to new testing challenges as it creates demand to qualify the software for the additional architectures. Naively double-testing all software for both architectures is costly and unnecessary. Further, reconfiguring CI/CD to take advantage of the new architecture can be non-trivial at scale. This paper introduces CI/CD variants and an optimized testing cycle to solve these twin challenges. We empirically evaluate our solution's impact on human and machine expenses using 44k projects at Google on real production data. First, we estimate saving ~25% of machine expenses at the negligible cost of a few delayed breakage detections per day. Second, we estimate a 90+% reduction in human cost for migrating the configuration. All features described in this paper are now Generally Available at Google and we report this as an empirical case study in scaling CI/CD to new architectures.
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CSIG: Congestion Signaling for Datacenter Transports
Abhiram Ravi
Brad Karp
MJ Akhbari
Weida Huang
Konstantinos Prasopoulos
2026
Preview abstract
Optimizing burst-heavy datacenter workloads necessitates fine-grained network control and visibility. We introduce CSIG, a protocol that delivers precise, multi-bit bottleneck congestion signals via a fixed-length Ethernet header. The architecture captures 𝜇s-granularity switch metrics, such as available bandwidth, and signals them to end-hosts using in-band, line-rate operations. We propose Fast Ramp-Up, a congestion control primitive that leverages these bottleneck signals to reduce median RPC latency by 20% and unclaimed bandwidth by 60% in production. Beyond transport-level performance, CSIG enables flow-aware observability by embedding 𝜇s-scale metrics into every packet, allowing individual application transfers to pinpoint their bottleneck location, such as the topology tier limiting their performance. CSIG thus transforms network telemetry from post-hoc correlation into a real time, contextaware capability. We demonstrate CSIG’s broad deployability by validating it across five generations of commodity switch hardware (up to 102.4 Tbps), four NIC generations, and five transport stacks. Our design proves that a streamlined Layer 2 approach, focusing exclusively on the principal path bottleneck, provides transport-agnostic gains without requiring forklift hardware upgrades.
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Observational constraints on net radiative forcing confirm aviation contrail warming
Aarón Sonabend
Joe Yue-Hei Ng
arXiv (2026)
Preview abstract
Contrail cirrus represents a critical component of aviation’s non-CO2 climate impact, but its net radiative forcing, the balance between longwave warming and shortwave cooling, remains poorly constrained by direct observations. As a result, current assessments rely almost exclusively on microphysical models such as CoCiP and global climate simulations. Existing empirical estimates are largely restricted to young, linear tracks, because satellite detection masks have a poor recall of contrails once they spread and merge with natural cirrus, leaving a structural gap in our understanding of long-lived, non-linear contrail cirrus. To address this we use a causal framework that isolates the net radiative contrail effect of flight traffic over the Americas. Building on recent progress that quantified the longwave warming contrail effect using advected flight paths as a proxy for contrails, we expand this continuous treatment approach to capture the highly skewed shortwave cooling impact, delivering a 12-hour lifespan net observational radiative forcing. Our analysis reveals a statistically significant net warming energy forcing of 33.7 (95% CI: 20.8, 47.8) GJ/km flown from April 2019 to April 2020, providing a large-scale empirical quantification of long contrail lifespan impact of the same order as, though somewhat larger than, previous bottom-up simulation estimates. This observational benchmark offers an independent line of evidence on the sign and magnitude of the climate impact of contrails.
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When managing complex, unpredictable (non-deterministic) AI agents using simple, fixed control systems (like finite state machines), operational failures and accountability issues often arise. This document introduces a probabilistic governance and telemetry framework to resolve these problems. Instead of following a rigid sequence of steps, this framework defines a multi-dimensional operational boundary, a 'behavioral volume', and assigns the agent a goal. This allows the agent to use its own reasoning to achieve the goal while remaining within the defined boundaries. A separate telemetry layer monitors the agent's actions by calculating metrics, such as alignment scores and drift velocity, to measure how much the agent deviates from its intended behavior. This system provides a method for guiding, monitoring, and securing autonomous agents, effectively managing the performance and security of an unpredictable AI workforce in complex environments.
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UniGeoCLIP: Unified Geospatial Contrastive Learning
Guillaume Astruc
Jan Hosang
Loic Landrieu
Paul-Edouard Sarlin
EarthVision Workshop at CVPR (2026)
Preview abstract
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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ARM MTE Performance in Practice
Taehyun Noh
Yingchen Wang
Tal Garfinkel
Mahesh Madhav
Mattan Erez
Shravan Narayan
Usenix Security (2026)
TDXRay: Microarchitectural Side-Channel Analysis of Intel TDX for Real-World Workloads
Tristan Hornetz
Hosein Yavarzadeh
Albert Cheu
Adria Gascon
Lukas Gerlach
Michael Schwarz
Ruiyi Zhang
IEEE Security & Privacy (S&P) (2026)
Preview abstract
Confidential computing with VM-based trusted execution environments (TEEs) promises to protect code and data from a privileged cloud operator, enabling privacy-preserving workloads ranging from medical analytics to AI inference. However, most deployments exclude microarchitectural side channels from their threat model, shifting the burden to application developers who lack practical, general-purpose tools to assess (let alone mitigate) leakage. This gap is problematic: host-observable effects such as page-fault patterns, shared-cache contention, performance-counter surrogates (where available), and fine-grained timing primitives (e.g., MWAIT) can still reveal high-level secrets even when memory remains encrypted.
We present TDXRay, an open-source framework that systematizes the evaluation of side-channel risk for confidential VMs in Intel TDX. TDXRay exposes unified interfaces to exercise and measure several attack primitives—including controlled-channel attacks via page tables, cache-based contention/occupancy probes, performance-counter–derived signals, and timing channels—against unmodified guest workloads. Using TDXRay, we build two end-to-end case studies: (1) a classic AES T-table attack in which a malicious hypervisor recovers the secret key from access-pattern leakage, and (2) an LLaMA inference attack in which the host infers user prompts by monitoring memory accesses during tokenization and embedding lookups. Across both, we show that a host with no direct access to guest memory can reconstruct sensitive information by observing only externalized microarchitectural signals.
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Parametric Robustness Assessment of Ultra-Low Voltage Standard Cells via High-Sigma Verification (HSV)
Varshini Giri
Sravanth Mucharla
2026
Preview abstract
In modern digital System-on-Chip (SoC) designs, sequential standard cells—such as single-bit D-Flip-Flops (DFFs) and Multibit Flip-Flops (MBFFs)—serve as fundamental building blocks for memory arrays, registers, and pipelines. To meet ultra-low-power requirements in mobile, edge, and high-performance computing (HPC) applications, these circuits increasingly operate at near-threshold supply voltages (VDD0.45-0.50V). However, aggressive voltage scaling introduces critical failure mechanisms:
Write-Back Failures: At low supply voltages, transmission gate or pass-gate write paths fail to overpower cross-coupled feedback inverters, preventing state transitions and causing cells to retain stale values.
Hold-Time/Race Violations: Clock skew and fast transitions trigger internal races. When process variation weakens clock gating or feedback control, internal storage nodes degrade, leading to transient glitches, state corruption, or functional failure.
To verify standard cell reliability, brute-force Monte Carlo (MC) simulations are computationally prohibitive, requiring billions of SPICE iterations. This work outlines a High-Sigma Verification (HSV) methodology using advanced statistical sampling—such as Importance Sampling, Boundary Search, or machine-learning-driven MC—to evaluate rare, extreme variation tails with a fraction of the computational overhead.
By mapping the multidimensional local variation space, the framework calculates true statistical yield margins (the "sigma-metric") and identifies dominant transistor-level variation sources, including pull-up/pull-down network balance and pass-gate drive strength. Beyond single-point analyses, the workflow bridges layout-level parasitic extraction and silicon-level yield predictability by scaling high-sigma evaluation across comprehensive PVT corners and diverse input slew/output load profiles. This multi-corner, slew-aware verification captures tail-distribution failures and dynamic delay non-linearities under extreme operating conditions, delivering characterization-ready yield bounds for robust, near-threshold SoC sign-off.
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Preview abstract
The rapid evolution of autonomous artificial intelligence systems has catalyzed the emergence of the “Agentic Economy,” a paradigm where decentralized intelligent agents execute complex workflows through heterogeneous tool environments. However, the scalability of this economy is fundamentally constrained by the N × M integration bottleneck, wherein N models require bespoke, brittle connectors for M data sources. This paper presents a comprehensive theoretical and quantitative evaluation of Universal Agentic Interoperability Protocols (UAIP), such as the Model Context Protocol (MCP). We formalize a Multi-Attribute Utility Analysis (MAUA) framework to assess the transition from point-to-point (P2P) RESTful architectures
to standardized, stateful RPC-based hubs. Our analysis incorporates high-fidelity metrics for Architectural Entropy (Sa), Technical Debt Decay (δTD), and Protocol Efficiency (η). Through a large-scale enterprise simulation involving 100 agents and 500 tools, we demonstrate that UAIP adoption reduces total system configuration entropy by 84% and collapses maintenance overhead by an order of magnitude. The results provide a rigorous basis for the standardization of context exchange in future multi-agent ecosystems, ensuring that the next generation of AI infrastructure remains scalable, secure, and vendor-neutral.
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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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Preview abstract
The Agent-to-Agent (A2A) protocol is an open, vendor-neutral standard proposed by Google to enable seamless collaboration between independent AI agents. A2A allows agents to discover each other via standardized Agent Cards, exchange structured Tasks and messages over JSON-RPC/HTTP, and stream updates for long-running work. This paper details the A2A protocol, including its technical building blocks, security model based on OAuth2/OIDC, and contrasts it with existing agent interaction models. We illustrate its utility through real-world multi-agent workflows, demonstrating how A2A, in conjunction with Model Context Protocol (MCP), can form a robust and interoperable ecosystem for scalable, enterprise-grade autonomous processes across different organizations and platforms.
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Budget-Aware Tool Use Enables Effective Agent Scaling
Tengxiao Liu
Jin Miao
I-Hung Hsu
Samira Daruki
COLM 2026 (2026)
Preview abstract
Scaling test-time computation improves performance across different tasks on large language models (LLMs), yet mainstream scaling methods remain challenging for tool-augmented LLM agents. Sequential scaling tends to yield shallow tool use and under-exploration, whereas parallel scaling inflates cost through repeated tool calls. The dual costs of tokens and tool calls further complicate cost accounting and hinder fair comparison. In this work, we study the test-time scaling of widely used, tool-reliant search agents under resource constraints, analyzing performance with a unified cost metric that incorporates both tokens and tool calls. To this end, we propose Cost-effective Agent Test-Time Scaling (CATS), a budget-aware framework designed to support more cost-effective scaling by guiding resource allocation between sequential and parallel exploration. Experiments across search-intensive benchmarks show that CATS produces more favorable scaling curves, attaining higher accuracy with fewer tool calls and lower overall cost. Our work introduces a cost-conscious design for agent test-time scaling and contributes empirical insights that enable a more transparent and principled understanding of scaling in tool-augmented agents.
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Who is At-Risk? Surveying the Prevalence of Risk Factors and Tech-Facilitated Attacks in the United States
Sharon Heung
Claire Weizenegger
Mo Houtti
Patrick Gage Kelley
Tara Matthews
Ashley Walker
2026
Preview abstract
A growing body of qualitative research has identified contextual risk factors that elevate people’s chances of experiencing digital-safety attacks. However, the lack of quantitative data on the population level distribution of these risk factors prevents policymakers and tech companies from developing targeted, evidence-based interventions to improve digital safety. To address this gap, we surveyed 5,001 adults in the United States to analyze: (1) the frequency of and relationship between digital-safety attacks (e.g., scams, harassment, account hacking), and (2) how these attacks align with 10 contextual risk factors. Nearly half of our respondents identify as resource constrained, which significantly correlates with higher likelihood of experiencing four common attacks. We also present qualitative insights to expand our understanding of the factors beyond the existing literature (e.g., “prominence” included high-visibility roles in local communities). This study provides the first large-scale quantitative analysis correlating digital-safety attacks with contextual risk factors and demographics.
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