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
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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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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Diffusion Controller: Framework, Algorithms and Parameterization
Tong Yang
Moonkyung Ryu
Guy Tennenholtz
Yuejie Chi
Bo Dai
Proceedings of the 43rd International Conference on Machine Learning (ICML-26), Seoul, South Korea (2026)
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Controllable generation with diffusion models is often treated as a collection of heuristics rather than a unified optimization problem. We propose a principled control formulation by viewing the diffusion reverse process as an instance of a (generalized) linearly-solvable Markov decision process (LS-MDP). This perspective turns controllable generation into regularized optimal control around a pretrained diffusion policy, yielding tractable objectives and algorithmic updates.
Under this framework, we study two practical finetuning regimes. When paired target data are available, we obtain a supervised finetuning (SFT) objective. When only a terminal reward model is available, we derive reinforcement-learning finetuning (RLFT) methods from the LS-MDP solution structure, including (i) a reward-weighted regression loss and (ii) a policy-gradient approach (with standard extensions such as PPO).
Crucially, the LS-MDP optimality conditions imply an explicit relationship between the optimal and pretrained score functions. We leverage this to derive a new score-function parameterization that isolates the control signal and enables “gray-box” finetuning with substantially fewer trainable parameters. Experiments across SFT and RLFT show this parameterization improves over existing finetuning baselines while achieving stronger sample/parameter efficiency.
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Classification testing: A new framework for drawing qualitative conclusions from quantitative estimates
Andrew C. Eggers
Zikai Li
(2026)
On-the-Fly OVD Adaptation with FLAME: Few-shot Localization via Active Marginal-Samples Exploration
Yehonathan Refael
Amit Aides
Aviad Barzilai
Vered Silverman
Bolous Jaber
Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision (WACV) Workshops (2026), pp. 886-894
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Open-vocabulary object detection (OVD) models offer remarkable flexibility applications by enabling object detection from arbitrary text queries. Still, the zero-shot performance of the pre-trained models is hampered by the inherent semantic ambiguity of natural language, result to low precision, leading to insufficient crucial downstream applications. For instance, in the remote sensing (RS) domain, a query for "ship" can yield varied and contextually irrelevant results. To address this, for real time applications, we propose a novel cascaded architecture that synergizes the broad capabilities of a large, pre-trained OVD model with a lightweight, few-shot classifier. Our approach utilizes the frozen weights of the zero-shot model to generate initial, high-recall object-embedding proposals, which are then refined by a compact classifier trained in real-time on a handful of user-annotated examples. The core of our contribution is an efficient one step active learning strategy for selecting the most informative samples for user annotation. Our method identifies (extremely) small amount of an uncertain candidates near the theoretical decision boundary using density estimation and then applies clustering to ensure a diverse training set. This targeted sampling enables our cascaded system to elevate performance on standard remote sensing benchmarks. Our work thus presents a practical and resource-efficient framework for adapting foundational models to specific user needs, drastically reducing annotation overhead while achieving high accuracy without costly full-model fine-tuning.
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Mobile Telemetry-Centered Threat Modeling for Managed Enterprise Architectures
IEEE Computer, vol. 59 (2026)
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This work introduces Telemetry-Centered Threat Modeling (TCTM), a vendor- and operating system–agnostic framework designed to assess whether mobile security telemetry is sufficiently authoritative to guide enterprise security policies and automated decision-making. Recognizing that enterprise security workflows frequently falter when acting on intercepted, delayed, or manipulated signals even if endpoint enforcement remains functional, TCTM establishes telemetry as a first-class security surface rather than a passive byproduct. The framework systematically evaluates evidence paths across four essential properties (origin, time-bounded validity, lineage, and binding) to uncover structural pipeline weaknesses before higher-level threat modeling takes place. Ultimately, TCTM bridges the gap between theoretical modeling and operational defense by translating telemetry vulnerabilities into tangible engineering artifacts, including SIEM detection rules, SOAR playbook constraints, and practical mobile testing scenarios.
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Shuffles of Context-Free Languages along Regular Trajectories
Corentin Barloy
Michaël Cadilhac
Kyle Ockerlund
2026
Preview abstract
In single-core processors, concurrency requires that multiple processes be interleaved into a single thread of execution by a scheduler. The language-theoretic operation that corresponds to this is the shuffle of two languages: the set of words obtained by interleaving a word from each language in an arbitrary, letter-wise fashion. It is well known that regular languages are closed under shuffles, while context-free languages (CFLs) are not.
Following an established line of research, this paper considers shuffles according to regular "trajectories," that is, subject to scheduling constraints expressed by an automaton. Unsurprisingly, some trajectories allow for CFLs to be shuffled into CFLs (e.g., simple concatenation of the two words), while others do not. This paper provides a robust toolset to show that a given trajectory would always shuffle two nonregular CFLs into a nonCFL. In the case of deterministic CFLs (DCFLs), a salient trichotomy of trajectories depending on how they shuffle DCFLs is provided.
These results are based on lemmata of independent interest regarding how pushdown automata (PDA) must invoke the stack when accepting a nonregular CFL or DCFL. The latter case relies on a recent result of Jančar and Šíma (MFCS'2021); answering an open question therein, it is demonstrated that said result cannot be generalized to arbitrary CFLs, leading to dedicated machinery for both cases.
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Identifying Hearing Difficulty Moments in Conversational Audio
Jack Collins
Adrian Buzea
Chris Collier
Alejandro Ballesta Rosen
Julian Maclaren
Kelly Miles
Simon Carlile
Trends in Hearing (2026)
Preview abstract
Individuals regularly experience Hearing Difficulty Moments in everyday conversation. Identifying Hearing Difficulty Moments has particular significance in the field of hearing assistive technology where timely interventions are key for real-time hearing assistance. In this article, we propose and compare machine learning solutions for the temporal detection of segments containing Hearing Difficulty Moments in conversational audio. We show that audio language models, through their multimodal reasoning capabilities, can achieve state-of-the-art results for this task, significantly outperforming a simple automatic speech recognition (ASR) hotword heuristic and a more conventional fine-tuning approach with Wav2Vec, an audio-only input architecture that is state-of-the-art for ASR.
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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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ARM MTE Performance in Practice
Taehyun Noh
Yingchen Wang
Tal Garfinkel
Mahesh Madhav
Mattan Erez
Shravan Narayan
Usenix Security (2026)
Conversational diagnostic artificial intelligence in ambulatory primary care: a prospective feasibility study
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
The Lancet (2026)
Preview abstract
Background: Artificial intelligence (AI)-based systems show promise for assisting primary care providers (PCPs) with patient care. We aimed to evaluate the safety and quality of clinical conversations of a patient-facing conversational AI system, which engaged in real-world urgent primary care appointments.
Methods: In this prospective, single-centre, single-arm feasibility study, English-speaking patients aged at least 18 years interacted with the Articulate Medical Intelligence Explorer (AMIE) up to 5 days before a single-complaint urgent primary care appointment. Physician safety supervisors monitored all interactions and were trained to intervene on the basis of predefined safety criteria. AMIE transcripts and summaries were shared with PCPs before the visit. Primary outcomes were the number of supervised conversation safety stops, AMIE’s conversation quality assessed by clinical evaluators, and patient and PCP experiences per surveys. This study is registered with ClinicalTrials.gov (NCT06911398).
Findings: From April to November, 2025, 114 patients were enrolled with 98 completing both the AMIE interaction and the PCP appointment. Zero conversation safety stops were required on the basis of prespecified criteria. Safety supervisors noted one hallucination and added clinical information in five interactions. AMIE’s conversations were rated favourably in 87–100% of cases (17 criteria) by clinical evaluators, and 48–96% (16 criteria) by patients. Patient attitudes towards AI improved after interacting with AMIE and remained elevated after the patient’s visit with their physician. PCPs completed post-surveys in 60 of 98 cases, including 44 cases in which they reviewed the AMIE transcript before the visit. PCPs found AMIE helpful for visit preparation in 33 of 44 cases and reported that it might have changed their behaviour in 25 of 44 cases.
Interpretation: Although further research is needed, this study shows the initial feasibility of conversational AI in a real-world setting—assessed via conversation safety and quality, as well as user acceptance—and represents a crucial step towards clinical translation.
Funding: Alphabet.
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We study algorithms in the resettable streaming model, where the value of each key can either be increased or reset to zero. This model is suitable for applications such as active resource monitoring with support for deletions and machine unlearning. We show that all existing sketches for this model are vulnerable to adaptive adversarial attacks that apply even when the sketch size is polynomial in the length of the stream. To overcome these vulnerabilities, we present the first adaptively robust sketches for resettable streams that require only polylogarithmic space complexity in the stream length. Our framework supports (sub) linear statistics including $L_p$ moments for $p\in[0,1]$ (in particular, Cardinality and Sum) and Bernstein statistics. We bypass strong impossibility results known for linear and composable sketches by designing dedicated single-stream sketches robustified via Differential Privacy. Unlike standard robustification techniques, which provide limited benefits in this setting and still require polynomial space in the stream length, we leverage the Binary Tree Mechanism for continual observation to protect the sketch's internal randomness. This enables accurate prefix-max error guarantees with polylogarithmic space.
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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 classifi-
cation 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 Clas-
sifier. Crucially, we introduce an advanced AI enhancement layer
utilizing Large Language Models (LLMs), specialized via Low-
Rank 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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While Large Language Models (LLMs) excel at many tasks, they frequently struggle with complex reasoning that requires long-horizon planning and iterative error correction. Furthermore, standard single-stream prompting proves brittle when models encounter novel abstractions or rigorous domain constraints. We introduce PoTRE (Poly-Topological Reasoning Ensembles), a heterogeneous framework that decouples inference into four agents: (1) Adversarial Refinement Agent, (2) Hierarchical strategic Planning Agent, (3) Spectrum Search Agent, and (4) Direct Chain Agent. A final Task-Adaptive Aggregation Layer dynamically reconciles these perspectives -- via final candidate selection, semantic synthesis, or neuro-symbolic verification -- to produce a robust global solution. We evaluate PoTRE on three frontier benchmarks: ARC-AGI-2, Humanity's Last Exam (HLE), and PRBench Finance. PoTRE achieves state-of-the-art accuracy of 49.92% on HLE, surpassing the previous best official score. We demonstrate that this architectural heterogeneity achieves improved reasoning performance using similar or fewer inference tokens compared to heavily scaled homogeneous baselines.
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