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.
Sort By
1 - 15 of 11612 publications
Preview abstract
We study a quantized prefix estimator for inner products that turns a randomly rotated TurboQuant-style representation into a cheap Johnson–Lindenstrauss-like search signal. The idea is simple: rotate the vectors once, keep only a short prefix of coordinates for fast scoring, and quantize the database-side prefix with an unbiased scalar quantizer. We prove that this estimator is unbiased and that its error separates cleanly into two interpretable sources: prefix truncation from using only r coordinates, and quantization error from using b bits per coordinate
This separation is useful in systems because the prefix can be exposed as a lightweight filter without building a separate projection index. In ParlayANN graph search, a 64-coordinate truncated view of existing TQ4 codes can replace a separately stored JL256 filter before full-precision reranking, adding only prefix-scale and query lookup-table bookkeeping. In k-means, the same estimator accelerates the dominant point–centroid assignment kernel while preserving exact centroid norms. Empirically, the truncated-TQ filter tracks the JL recall–throughput frontier across five graph-search datasets while reusing the quantized representation already present in the index.
View details
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.
View details
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.
View details
A Validated Scale Measuring Student Self-Efficacy for Programming with Generative AI
Erin Spaulding
Yekaterina Kharitonova
Paul Denny
Juho Leinonen
Lauren Elizabeth Margulieux
James Prather
Yonggao Yang
Brent N. Reeves
Jamie Benario
Ernest Holmes
2026
Preview abstract
The rise of generative artificial intelligence (GenAI) has sparked a rapid change in computing curricula and teaching approaches. GenAI coding tools can accurately complete assignments, answer test questions, and perform other tasks traditionally associated with learning programming, especially at the introductory level. Because GenAI is still so new, researchers investigating student usage of GenAI have used informal rubrics and questionnaires. To advance, the field needs validated instruments that measure student perception and use of GenAI. This paper presents the development and initial validation of an instrument to measure self-efficacy while using GenAI to learn programming. Self-efficacy is an important construct in education research because it robustly correlates with student success, across disciplines and ages, including undergraduate computing education. Computing education researchers have presented several validated self-efficacy instruments, most recently by Steinhorst et al. in 2020. Critically, this instrument was created before the rise of GenAI’s popularity in 2022. To complement this instrument, we created a GenAI scale similar in style to the Steinhorst self-efficacy instrument, consisting originally of 11 items and revised to 5 items. We report two important findings in this paper. First, we found strong support for the validity of the existing Steinhorst instrument in a new context, specifically an introductory programming course that fully integrates GenAI. Second, the new GenAI scale shows strong internal reliability, discriminant validity with items in the Steinhorst subscales, and criterion validity with students’ GenAI usage patterns. Based on statistical analysis and cognitive probing interviews, we argue for the validity of the five-item scale to measure students’ GenAI self-efficacy in the context of programming.
View details
AI, Identity, and Ethical Governance: Building Trust in High-Stakes Systems
Ibrahim Waziri Jr.
Abhilasha Bhargav - Spantzel
RSAC (2026)
Preview abstract
As AI redefines identity verification in high stakes systems, it introduces novel risks like deepfake fraud and algorithmic bias, creating a critical trust deficit. This session will provide a practical framework for ethical governance, equipping leaders to build and manage secure, fair, and fundamentally trustworthy AI systems by design.
View details
Beyond Tsybakov: Model Margin Noise and H-Consistency Bounds
The Nineteenth International Symposium on Artificial Intelligence and Mathematics (ISAIM 2026)
Preview abstract
We introduce a new low-noise condition for classification, the *Model Margin Noise (MM noise)* assumption, and derive enhanced $H$-consistency bounds under this condition. MM noise is *weaker* than Tsybakov noise condition: it is implied by Tsybakov noise condition but can hold even when Tsybakov fails, because it depends on the discrepancy between a given hypothesis and the Bayes-classifier rather than on the intrinsic distributional minimal margin (see Figure 1 for an illustration of an explicit example). This hypothesis-dependent assumption yields enhanced $H$-consistency bounds for both binary and multi-class classification. Our results extend the enhanced $H$-consistency bounds of Mao, Mohri, and Zhong (2025a) with the same favorable exponents but under a weaker assumption than the Tsybakov noise condition; they interpolate smoothly between linear and square-root regimes for intermediate noise levels. We also instantiate these bounds for common surrogate loss families and provide illustrative tables.
View details
VIP-MINGLE: A Corpus for Videoconference and In-Person Multimodal Interaction in Group Language Engagement
Abhinay K Bodi
Wenxin Deng
Junrui Huang
Venu G Kadamba
Sumanth B H Karanam
Dhiwahar A Kennady
David Poeppel
Dustin Freeman
Interspeech (2026)
Preview abstract
Group conversations are a fundamental yet complex form of social interaction central to human cognition and telecommunication technology. While understanding and facilitating these interactions has been a long-standing goal, findings are often isolated within specific in-person or videoconferencing settings due to a scarcity of datasets that bridge the two. We introduce VIP-MINGLE, a multimodal dataset comprising 59 hours of recordings (32 groups, 105 participants), featuring paired within-subject sessions in both settings. The dataset includes raw audio/video, psychometric data, processed multimodal features (e.g., diarized speech, facial expressions, transcriptions), and time-resolved human annotations. Our analysis reveals significant behavioral distribution shifts across multiple modalities between settings, reinforcing the need for a cross-setting corpus. VIP-MINGLE serves as a critical resource for developing robust models of group conversations across settings.
View details
Quantum Advantage in Topological Data Analysis via Mayer Homology
Anh Nghiem
Dominic Berry
Trung Phan
Guo-Wei Wei
Ryu Hayakawa
arXiv:2609.28058 (2026)
Preview abstract
Prior work has explored quantum algorithms for topological data analysis (TDA), revealing the possibility of exponential quantum speedups in estimating the ratios of Betti numbers to the dimension of the combinatorial Laplacian. However, this quantity is only non-vanishing and efficient-to-quantumly-estimate when Betti numbers are exponentially large, a case for which concrete examples are rarely known. Furthermore, certain randomized classical algorithms are sometimes efficient in this regime. Thus, the prospect of achieving quantum advantage in conventional TDA appears fairly narrow. Here, we address these challenges to the quantum advantage in TDA by developing quantum algorithms for Mayer homology, which generalize simplicial homology to N-nilpotent boundary operators (∂N=0) and have recently been successfully applied to real-world TDA contexts. We introduce an efficient quantum algorithm for estimating Mayer Betti numbers and their persistent counterparts. We then prove that for high-order simplices, Mayer Betti numbers are often exponentially large in the dense regime, which ameliorates the normalization bottleneck of conventional quantum TDA. In the same regime, we argue that existing dequantization algorithms developed for conventional TDA, when applied to Mayer homology, generally lose theoretical guaranties, facing certain structural barriers that prevent their practical utilities. We also provide logical resource estimates revealing that a quantum computer with roughly a few hundred qubits and sixty million Toffoli gates could solve Mayer homology problems beyond the capabilities of known classical approaches. Finally, we discuss real-world applications of Mayer homology in genomics, supersymmetry, drug discovery, and neuroscience, revealing the potential of our quantum algorithm to deliver real-world impacts via Mayer homology.
View details
CoDaS: AI Co-Data-Scientist for Biomarker Discovery via Wearable Sensors
Juro Gottweis
CJ Park
Salman Rahman
Ahmed Metwally
Hong Yu
Ivor Rendulic
Yuzhe Yang
Petar Sirkovic
Daniel McDuff
Shwetak Patel
Nicolas Stroppa
Yubin Kim
Mark Malhotra
Orson Xu
Sam Schmidgall
Tim Althoff
Elahe Vedadi
Cynthia Breazeal
Hae Won Park
(2026)
Gaze Target Estimation Anywhere with Concepts
Xu Cao
Houze Yang
Vipin Gunda
Inki Kim
Jim Rehg
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (2026)
Preview abstract
Estimating human gaze targets in-the-wild is a formidable challenge. Existing computer vision algorithms rely on brittle, multi-stage pipelines that require explicit inputs like head bounding boxes and human pose, causing initial detection errors to cascade and lead to system failure. To overcome this, we introduce the \textbf{Promptable Gaze Target Estimation (PGE)} task, a new end-to-end, concept-driven paradigm. PGE conditions gaze prediction on flexible user text or visual prompts (e.g., "the boy in the red shirt" or "person in point [0.52, 0.48]") to identify a specific subject's target, which eliminates the rigid dependency on intermediate localization cues. We develop a scalable data engine to generate \textbf{Gaze-Co}, a dataset and benchmark of 120K high-quality, prompt-annotated image pairs. We also propose \textbf{AnyGaze}, the first model designed for PGE. AnyGaze uses a Transformer-based detector to fuse features from frozen encoders and simultaneously solves subject localization, in/out-of-frame presence, and gaze target heatmap estimation. AnyGaze achieves state-of-the-art performance on standard gaze target estimation benchmarks, setting a strong baseline for this new problem even on a difficult out-of-domain, real-world clinical dataset. We will open-source the AnyGaze model and the Gaze-Co benchmark.
View details
Preview abstract
We study contextual bandits in the stochastic i.i.d.\ setting, where a learner observes contexts drawn from an unknown distribution, selects actions from a finite set $\cA$, and aims to identify an approximately optimal policy from a given class based on bandit feedback.
Motivated by the important special case of bandit multiclass classification with zero-one rewards, we focus on the \emph{$s$-sparse} setting in which, for every context, the underlying reward vector has $L_1$-norm at most $s \ll |\cA|$. Our main result is the design of algorithms that, with probability at least~$1-\delta$, output an $\eps$-optimal policy compared to policy class $\Pi$ using
\begin{align*}
\wt{O} \brk*{\brk*{\frac{s}{\eps^2} + \frac{|\cA|}{\eps}} \log \frac{|\Pi|}{\delta}}
\end{align*}
samples.
We further extend this bound to general Natarajan classes and complement it with a matching lower bound (up to logarithmic factors), thereby closing a substantial gap left by prior work~\citep{erez2024real,erez2024fast,erez2025bandit}, which incurred an additional $\Theta(|\cA|^9)$ dependence.
We obtain these results via two complementary approaches. First, we analyze contextual bandits through the lens of contextual decision making with structured observations, designing an exploration-by-optimization algorithm whose sample complexity is governed by the \emph{decision-estimation coefficient} (DEC; \citealp{foster2021statistical,foster2022complexity}). We show that, with $s$-sparse rewards, the induced model class admits a sharp DEC bound that scales with $s$ and directly yields the optimal rate. Since this approach is largely information-theoretic and involves solving complex min-max optimization problems, we also develop a second, more specialized algorithmic method based on a low-variance exploration technique. This approach leads to concrete, tractable algorithms and naturally extends to contextual combinatorial semi-bandits, leading to improved sample complexity guarantees for bandit multiclass list classification.
View details
Securing the Agentic Enterprise
Amazon Kindle (2026)
Preview abstract
Securing the Agentic Enterprise: Threat Modeling, Anomaly Detection, and Governing Autonomous Multi-Agent Systems addresses the critical security and governance gaps emerging as enterprises transition from human-supervised copilots to autonomous agentic workflows. As software processes gain the ability to reason, decompose natural language objectives, and execute multi-step tool calls at machine speed, traditional syntactic security boundaries (like firewalls and static analysis) become obsolete.
This book provides security architects, CISOs, and platform engineers with a practical, architecture-level blueprint for securing this new paradigm. It explores novel attack vectors such as indirect prompt injections and consumption-based economic threats and provides frameworks for robust mitigation. Key topics include modernizing agentic identity, implementing semantic firewalls, transition-state anomaly detection, and applying zero-trust principles to autonomous execution contexts. Bridging the gap between high-level ethical guidelines and isolated model safety, this guide prepares practitioners to confidently deploy and govern enterprise-grade autonomous systems.
View details
Verification-Driven Interface Convergence: Methodology for Validating Functional Interoperability And Accelerating Subsystem Design for Concurrently Developed Compute and Component IPs in Coherent Subsystem
Alisha Parvez
Preethi Ashok Kumar
Shreya Singh
Jyothi Kumari
Rohit Jindal
2026
Preview abstract
To meet aggressive time-to-market goals, modern mobile SoC architectures require the concurrent development of custom Compute-IPs and surrounding subsystem integration logic (1PIPs and 3PIPs). However, this parallel execution creates a critical verification deadlock: the subsystem cannot be validated until both the Compute-IP and volatile, in-flight 1PIPs reach physical RTL maturity. Consequently, "integration-killer" bugs—such as protocol handshaking deadlocks and clock/reset sequencing mismatches—remain hidden until late in the design cycle when RTL rework costs are prohibitive. To break this bottleneck, we present a verification-driven methodology utilizing a silicon-proven Golden Proxy, Direct-Execution Traffic Profiles, Programmable Sequencers and Automated Protocol Converters. This framework completely decouples parallel hardware dependencies, pre-pulling critical inter-IP mismatch discoveries months ahead of traditional integration milestones.
View details
Preview abstract
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.
View details
Preview abstract
Modern machine learning systems, such as generative models and recommendation systems, often evolve through a cycle of deploying a model, observing user interactions, and updating the model intermittently based on feedback. This mode of learning contrasts with common supervised learning frameworks, which focus on loss or regret minimization over a shared sequence of prediction tasks. Motivated by this deployment-driven learning cycle, we revisit the classical model of learning from equivalence queries, introduced by Angluin, which provides a simple abstraction of such interactions: a learner repeatedly proposes hypotheses and, whenever the deployed hypothesis is inadequate, receives a counterexample tailored to that hypothesis. Under fully adversarial counterexample generation, however, this model exhibits overly pessimistic worst-case behavior. Moreover, most existing work on learning from equivalence queries considers the \emph{full-information} setting, where the learner observes not only a counterexample but also its correct label. This is an assumption that does not always align with natural interactive settings. To address these considerations, we restrict the environment to generate counterexamples in a less adversarial manner by introducing a broad class of counterexample generators, which we call \emph{symmetric}. Informally, such symmetric counterexample generators select counterexamples based only on the symmetric difference between the hypothesis and the target, and encompass natural feedback mechanisms such as random counterexamples, as well as generators that select counterexamples minimizing a prescribed complexity measure over the instance space. Within this framework, we study learning from equivalence queries under both full-information and bandit feedback. We establish tight bounds on the number of learning rounds in both settings and outline directions for future research. Our techniques rely on a game-theoretic perspective on symmetric adversaries and combine adaptive weighting algorithms with minimax arguments.
View details
