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 11587 publications
A 3D Scene Graphs Survey: Open Challenges and Future Directions
Dennis Rotondi
Francesco Argenziano
Sebastian Koch
Nathan Hughes
Martin Büchner
Johanna Wald
Lukas Schmid
Daniele Nardi
Abhinav Valada
Liam Paul
Luca Carlone
Kai Arras
Annual Review of Control, Robotics, and Autonomous Systems (ARCRAS), 10 (2027) (to appear)
Preview abstract
3D Scene Graphs (3DSGs) have emerged as a powerful representation for spatial AI by combining geometric grounding with semantic and relational abstractions of the environment. Their expressiveness has made them relevant to a broad range of problems in robotics and computer vision, including mapping, task and motion planning, scene understanding, and many others. However, the field remains fragmented: different communities adopt distinct formulations, construction pipelines, and evaluation protocols, making it difficult to compare methods, identify common assumptions, and assess remaining challenges for robust real- world deployment. This survey provides a unified and critical review of 3DSGs, with particular emphasis on open challenges and future directions. We first formalize 3DSGs under a common definition and analyze the principal modeling choices that characterize existing formulations, including node and edge attributes, hierarchical structure, dynamic scene representations, and affordance-aware extensions. We then review how 3DSGs are constructed from raw sensory observations, covering both learning-oriented and construction-oriented systems. Finally, we examine downstream applications and evaluation strategies, from intrinsic graph quality to task-level performance. To support the community, we also provide a dedicated website that organizes and extends the surveyed works.
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When Android Apps Request Location with a Reason: A Developer Study and User Behavior Experiment
May Smith
Aman Jain
Proceedings on Privacy Enhancing Technologies (2027)
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Recent reports have highlighted how mobile apps share user location data with third parties, risking user privacy and platform trust. Although location data is highly sensitive, when users grant apps location access, they may not know the full extent to which it is used. We study how requiring Android apps to show a reason for location access could impact developers, users, and the platform.
We surveyed 323 Android app developers and found most supported such a requirement. The majority said it would have a positive impact on user privacy, trust for apps, and trust for Android, where impact on user trust for Android correlated most strongly with support. Many developers also said the intervention would increase the number of users granting location access. Yet their open-ended comments also revealed consistent concerns, such as apps providing dishonest reasons and platform verification.
To study the impact on user behavior, we conducted a randomized controlled experiment with 2579 US Android users. We tested how users' decisions to grant location access were impacted by app type, whether reasons were included in the requests, and the content of the reasons, including monetization. We did not find the reasons impacted users' decisions; decisions were instead driven by app type and demographics. Yet we did find the reasons could have a positive impact on user perception for the platform when the reasons did not include using data for ads. Our findings provide insights into developers' willingness to implement privacy-enhancing changes, and expose limits to improving user privacy by simply adding information to user interfaces.
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Here’s a thought experiment. Say I wave a magic wand across a codebase and an entire class of technical debt, poof, goes away and immediately evaporates if introduced in the future. For example, maybe I make it so that dead feature flags are simply no longer a problem: they just delete themselves as soon as the engineer wills it. Or maybe large-scale migrations just migrate themselves. Maybe we magically have 100% test coverage, without an engineer lifting a finger.
What will happen to developer productivity?
Surely, developer productivity increases overall.
But will the productivity metrics that we all use as a proxy for “developer productivity” move up and to the right. Let’s explore this idea.
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The Perfection Paradox: From Architect to Curator in AI-Assisted API Design
JJ Geewax
David R Karger
Extended Abstracts of the 2026 CHI Conference on Human Factors in Computing Systems (CHI EA '26), ACM, Barcelona, Spain, TBD
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Enterprise API design is often bottlenecked by the tension between rapid feature delivery and the rigorous maintenance of usability standards. We present an industrial case study evaluating an AI-assisted design workflow trained on API Improvement Proposals(AIPs). Through a controlled study with 16 industry experts, we compared AI-generated API specifications against human-authored ones. While quantitative results indicated AI superiority in 10 of 11 usability dimensions and an 87% reduction in authoring time, qualitative analysis revealed a paradox: experts frequently misidentified AI work as human (19% accuracy) yet described the designs as unsettlingly “perfect.” We characterize this as a “Perfection Paradox”—where hyper-consistency signals a lack of pragmatic human judgment. We discuss the implications of this perfection paradox, proposing a shift in the human designer’s role from the “drafter” of specifications to the “curator” of AI-generated patterns.
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Generative AI is reshaping software development, yet its psychological impact remains under-researched. During May and August 2025 we conducted reflexive thematic analysis of interviews with 12 senior engineers (≥5 years experience) recruited from Western technology hubs to explore shifts in professional identity. We identify a central transition from "coder to conductor," where AI acts as a cognitive partner. Key findings include: (1) a re-architecting of focus from implementation to strategy; (2) a shift in productivity metrics from output to impact; and (3) a dual-impact on agency, where AI empowers autonomy but threatens competence through de-skilling anxieties. These findings suggest that as implementation becomes commoditised, organisational training and career progression must prioritise architectural mastery and metacognitive oversight to ensure sustained developer motivation and system integrity.
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A prospective clinical feasibility study of a conversational diagnostic AI in an ambulatory primary care clinic
Peter Brodeur
Jacob M. Koshy
Khaled Saab
Ava Homiar
Roma Ruparel
Charles Wu
Ryutaro Tanno
Joseph Xu
Amy Wang
David Stutz
Hannah M. Ferrera
David Barrett
Lindsey Crowley
Jihyeon Lee
Spencer E. Rittner
Selena K. Zhang
Elahe Vedadi
Christine G. Kohn
Kavita Kulkarni
Vinay Kadiyala
Sara Mahdavi
Wendy Du
David Feinbloom
Renee Wong
Petar Sirkovic
Alessio Orlandi
Juro Gottweis
Joelle Barral
Kat Chou
James Manyika
Rob Fields
Jonathan X. Li
Marc L. Cohen
Adam Rodman
arXiv (2026)
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Large language model (LLM)-based AI systems have shown promise for patient-facing diagnostic and management conversations in simulated settings. Translating these systems into clinical practice requires assessment in real-world workflows with rigorous safety oversight. We report a prospective, single-arm feasibility study of an LLM-based conversational AI, the Articulate Medical Intelligence Explorer (AMIE), conducting clinical history taking and presentation of potential diagnoses for patients to discuss with their provider at urgent care appointments at a leading academic medical center. 100 adult patients completed an AMIE text-chat interaction up to 5 days before their appointment. We sought to assess the conversational safety and quality, patient and clinician experience, and clinical reasoning capabilities compared to primary care providers (PCPs). Human safety supervisors monitored all patient-AMIE interactions in real time and did not need to intervene to stop any consultations based on pre-defined criteria. Patients reported high satisfaction and their attitudes towards AI improved after interacting with AMIE (p < 0.001). PCPs found AMIE's output useful with a positive impact on preparedness. AMIE's differential diagnosis (DDx) included the final diagnosis, per chart review 8 weeks post-encounter, in 90% of cases, with 75% top-3 accuracy. Blinded assessment of AMIE and PCP DDx and management (Mx) plans suggested similar overall DDx and Mx plan quality, without significant differences for DDx (p = 0.6) and appropriateness and safety of Mx (p = 0.1 and 1.0, respectively). PCPs outperformed AMIE in the practicality (p = 0.003) and cost effectiveness (p = 0.004) of Mx. While further research is needed, this study demonstrates the initial feasibility, safety, and user acceptance of conversational AI in a real-world setting, representing crucial steps towards clinical translation.
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“That Experience Still Haunts Me to This Day”: A Multi-Region Survey on AI-Generated Image-Based Sexual Abuse Victimization
Nicola Henry
International Journal of Human-Computer Interaction (2026)
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Image-based sexual abuse (IBSA) refers to the creation, sharing, or threats to share intimate images, whether real or synthetic. Advances in artificial intelligence (AI) now enable the generation of sexually explicit images from non-explicit source material, such as professional headshots and social media profiles. In this study, we found that across three regions (Australia, the United Kingdom, and the United States), 15% of a representative sample reported experiences of IBSA involving digitally altered images, including 6.9% who reported AI-generated IBSA (AI-IBSA) victimization specifically. Higher rates of victimization were observed among respondents under 35, LGBTQ+, and BIPOC participants, people with disabilities, and men. While victimization rates were higher among men, women were more likely to report a broader range of harms and more negative emotional and social impacts. The most common responses to victimization were platform-based actions, including blocking (69%) and reporting (58%). These findings highlight AI-IBSA as a growing and under-recognized form of harm, with important implications for prevention, platform governance, and support for victim-survivors.
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Optimized Deferral for Imbalanced Settings
Anqi Mao
Proceedings of the 43rd International Conference on Machine Learning (ICML 2026)
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Learning algorithms can be significantly improved by routing complex or uncertain inputs to specialized experts, balancing accuracy with computational cost. This approach, known as learning to defer, is essential in domains like natural language generation, medical diagnosis, and computer vision, where an effective deferral can reduce errors at low extra resource consumption. However, the two-stage learning to defer setting, which leverages existing predictors such as a collection of LLMs or other classifiers, often faces challenges due to an expert imbalance problem. This imbalance can lead to suboptimal performance, with deferral algorithms favoring the majority expert. We present a comprehensive study of two-stage learning to defer in expert imbalance settings. We cast the deferral loss optimization as a novel cost-sensitive learning problem over the input-expert domain. We derive new margin-based loss functions and guarantees tailored to this setting, and develop novel algorithms for cost-sensitive learning. Leveraging these results, we design principled deferral algorithms, MILD (Margin-based Imbalanced Learning to Defer), specifically suited for expert imbalance settings. Extensive experiments demonstrate the effectiveness of our approach, showing clear improvements over existing baselines on both image classification and real-world Large Language Model (LLM) routing tasks.
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Global monitoring of methane point sources using deep learning on hyperspectral radiance measurements from EMIT
Michelangelo Conserva
Alex Wilson
Anna Michalak
Philip Brodrick
Andrew Thorpe
Proceedings of the National Academy of Sciences (PNAS) (2026)
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Anthropogenic methane (CH4) point sources are critical drivers of near-term climate forcing, safety hazards, and system inefficiencies. Global tracking with imaging spectroscopy is just becoming feasible, but still largely relies on manual tracking. Here we present the Methane Analysis and Plume Localization with EMIT (MAPL-EMIT) model, an end-to-end vision transformer framework that advances the state of the practice by directly utilizing the complete radiance spectrum from the Earth Surface Mineral Dust Source Investigation (EMIT) instrument to jointly retrieve methane enhancements across all pixels within a scene. This approach joins spectral information content - where the methane signature resides - with essential spatial context to significantly lower detection limits. MAPL-EMIT simultaneously supports quantification, plume delineation, and source localization, even for multiple overlapping plumes. The model was trained on 3.6 million physics-based synthetic plumes injected into global EMIT radiance data. Evaluation against synthetic observations confirms the model’s ability to identify plumes with high recall and precision and to capture weaker plumes relative to existing matched-filter approaches. On real-world benchmarks, MAPL-EMIT captures 79% of known hand-annotated NASA L2B plume complexes across a test set of 1084 EMIT granules, while identifying twice as many plausible plumes than identified by human analysts. Further validation against coincident airborne data, top-emitting landfills, and controlled release experiments confirms the models efficacy at identifying previously uncaptured sources. By incorporating model-generated metrics such as spectral fit scores and estimated noise levels, the framework can further limit false-positive rates. Overall, MAPL-EMIT enables high-throughput implementation on the full EMIT data catalog, shifting methane monitoring from labor-intensive workflows to a rapid, scalable paradigm for facility-level accountability.
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Preview abstract
Online video platforms face an exponential challenge
in detecting and mitigating the flood of AI-generated “slop”
and synthetic spam perpetuated by coordinated malicious actors.
This content is increasingly designed to exploit the limitations
of traditional media forensics, often utilizing generative AI to
produce unique, localized variations of harmful or low-quality
material at scale. Traditional content-centric moderation fails
against this coordinated, adversarial generation strategy.
This paper presents a novel, scalable detection and classification framework designed for online video platforms (OVP) to
identify and triage clusters of coordinated accounts exhibiting
a prevalence of adversarial synthetic content. The approach
leverages a multi-faceted architecture incorporating two core
machine learning components: a robust Coordinated Bot-Net
Detector (via Account Relatedness) and a Synthetic Pattern Classifier. Crucially, we introduce an advanced AI enhancement layer
utilizing Large Language Models (LLMs), specialized via LowRank Adaptation (LoRA) and Automatic Prompt Optimization
(APO), to achieve rapid, high-precision semantic understanding
of emerging synthetic spam trends.
Evaluated across a representative evaluation dataset (N =
16, 250 weekly candidate channels across six major synthetic
abuse verticals), the system demonstrates high precision (FPR <
0.05%) in identifying coordinated synthetic spam networks.
Furthermore, the LLM-driven classification achieves a 74%
automated triage routing rate, saving over 1, 100 operational
review hours per week while reducing investigation turnaround
times by up to 50% (p < 0.001). This work details a critical
system design that provides essential scalability and adversarial
resilience against sophisticated generative attacks.
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PaperBanana: Automating Academic Illustration for AI Scientists
Dawei Zhu
Sujian Li
International Conference on Machine Learning (2026)
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While AI scientists increasingly automate research tasks through advanced language models, generating publication-ready illustrations remains a labor-intensive bottleneck in the scientific workflow. To lift this burden, we introduce PaperBanana, an agentic framework for automated generation of publication-ready academic diagrams. Powered by Nano-Banana-Pro and Gemini-3-Pro, PaperBanana orchestrates a team of specialized agents to retrieve reference examples, devise detailed plans for content and style, render the image, and perform iterative refinement based on self-critique. To rigorously evaluate our framework and address the absence of dedicated benchmarks for automated academic illustration, we introduce PaperBananaBench, comprising 292 test cases for methodology diagrams curated from NeurIPS 2025 publications.
Comprehensive experiments demonstrate that PaperBanana consistently outperforms vanilla Nano-Banana-Pro across all four dimensions—faithfulness, conciseness, readability, and aesthetics—achieving human-level performance. We further show that PaperBanana seamlessly extends to statistical plots through targeted adaptations. Collectively, PaperBanana enables AI scientists to fully automate the generation of publication-ready academic illustrations.
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The classic online stochastic matching problem typically requires immediate and
irrevocable matching decisions. However, in many modern decentralized systems
such as real-time ride-hailing and distributed cloud computing, the primary bottleneck is often local communication bandwidth rather than the timing of the match
itself. We formalize this challenge by introducing a two-stage local sparsification
framework. In this setting, arriving requests must prune their realized compatibility
sets to a strict budget of k edges before a central coordinator optimizes the global
matching. This creates a ”middle ground” between local information constraints
and global optimization utility.
We propose a local selection strategy, parametrized by a fractional solution of the
expected instance. Theoretically, we quantify the approximation ratio as a function
of the solution’s spread. We prove that under sufficient spread, our sparsifier
globally preserves the expected size of the maximum matching. Empirically,
we demonstrate the robustness of our approach using the New York City ridehailing datasets and adversarial synthetic benchmarks. Our results show that near-optimal global matching is achievable even with highly constrained local budgets, significantly outperforming standard online baselines.
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Browser fingerprinting is the practice of tracking users across the Web by collecting attributes from their devices and combining them to create unique identifiers. This practice poses major privacy risks to users, and more than a decade of research has quantified fingerprinting risks due to various attributes, leading browser developers to implement many privacy-enhancing changes. Early work used Shannon entropy to quantify risks. However, Shannon entropy can grow with dataset size, limiting the ability to compare datasets and results. Researchers then introduced normalized entropy as a measure for comparing browser fingerprinting datasets of different sizes and numerous works followed using normalized entropy for this purpose.
We identify and address a resulting problem in the fingerprinting literature. We show normalized entropy is ill-suited to compare datasets of different sizes — it decreases as dataset size increases. We show this both analytically and empirically, leveraging a recently published dataset of browser attributes commonly used for fingerprinting.
Given the unmet need for a better fingerprinting risk measure, we define a minimal set of desired properties for such a measure: scale-invariance, monotonicity and estimability. We then propose to use Tsallis entropy as a more interpretable fingerprinting risk measure. We evaluate Shannon, normalized, and Tsallis entropy with respect to the properties, and prove that only Tsallis entropy satisfies all of them.
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Enhancements in Memory Test for Improved Diagnosability and Comprehensive Multi-Bank Test
Shivam Tulsyan
Veerabhadra Rao Vasa
Prachi Sinha
Mayank Parasrampuria
2026
Preview abstract
The relentless scaling of System-on-Chip (SoC) architectures toward sub-5nm nodes has driven a shift from standard compiled memories to highly optimized custom memory designs to meet aggressive Power, Performance, and Area (PPA) targets. However, these custom layouts introduce unique physical defect mechanisms and layout-dependent coupling faults that are often invisible to industry-standard March tests. This paper proposes a novel custom testing methodology specifically engineered for multi-bank custom memory architectures in modern SoCs. By implementing a programmable, bank-aware Built-In Self-Test (BIST) architecture, the proposed solution enables concurrent multi-bank stressing to detect inter-bank crosstalk while maintaining strict power-density limits through a custom scheduling algorithm. This methodology provides a scalable framework for ensuring high reliability in performance-critical silicon environments. Industry standard memory built in self test does not cover this. This paper presents a novel custom memory testing methodology utilizing Soft Programmable Opset Logic Addition to address potential coupling-related faults during simultaneous multi-bank access in multi-port memories. While the proposed multi-bank BIST identifies the presence of inter-bank coupling, physical localization of these defects in sub-5nm nodes requires non-invasive back-side analysis. Our methodology includes a 'Diagnostic Mode' that allows the BIST to loop specific stress patterns, enabling Laser Voltage Probing (LVP) to capture high-resolution internal waveforms. This synergy between custom BIST and optical probing significantly reduces the Time-to-Yield (TTY) by pinpointing the exact physical origin of marginal delay faults.
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