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
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 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
Data-usage descriptors as search metadata: the case of food security data and the National Data Platform (2015-2025)
Julia Lane
Rafael Ladislau
Lauren Chenarides
Simon Porter
Manish Parashar
Scientific Data, 13 (2026)
Preview abstract
Scientific data is a critical input into scientific research. Yet the research data landscape is constantly changing as new datasets emerge, others are retired, or some disappear altogether. Without a systematic way to track how datasets are used across a research field, researchers have no reliable method for identifying relevant data resources or locating communities that work with them. Data-usage descriptors can substantially advance research productivity by reducing the time that researchers spend finding new and relevant datasets in their research field, and the communities that use them. This paper describes how to generate data-usage descriptors by finding how datasets are used in publications and then linking the dataset information to the publication metadata. It also shows how usage descriptors can be used to find other related datasets and their usage. It concludes by arguing that the approach represents a critical piece of foundational infrastructure that could be deployed in repositories as part of a referenceable, navigable, and contextual data framework. This article contains a reproducible workflow for constructing data-usage descriptors, based on analyzing the full text of publications in the Dimensions database. The illustrative use case is research on food security. The illustrative repository is the National Data Platform.
View details
Preview abstract
Using generative artificial intelligence with sensitive data may present challenges, as transmitting personally identifiable information or protected health information to third-party providers can introduce security risks, and some data masking techniques can reduce reasoning capabilities. A described system uses a proxy, masking layer that can intercept data within an enterprise's secure perimeter. This layer can substitute sensitive strings with persistent, structured semantic tokens that may be enriched with non-sensitive metadata hints to help preserve context. An external artificial intelligence can perform reasoning on this abstracted data, and its tokenized response can be re-hydrated into readable text on a client device (e.g., a smartphone, computer, or wearable device). This approach may allow third-party models to reason on proprietary information without direct access to the underlying plaintext data, which can assist organizations in managing data sovereignty while maintaining functional utility.
View details
Preview abstract
Serverless platforms offer compelling economics for low-traffic inference of small language models (SLMs), but cold start latency remains a critical barrier. We present a systematic empirical study of cold start performance for quantized SLMs served via llama.cpp on Google Cloud Run’s CPU-only infrastructure. We benchmark five models (270M– 3.8B parameters) across two memory tiers (4 GiB and 8 GiB), with a quantization sweep spanning five GGUF formats (Q2_K through Q8_0) for LLaMA 3.2 1B and three-point validation on Gemma 3 270M and Qwen3 0.6B. Our results reveal that model loading dominates cold start time (55–70%), the 8 GiB tier provides a hidden 2× vCPU advantage that nearly halves warm inference time, and Q4_K_M quantization achieves a Pareto-optimal tradeoff across latency, throughput, and model quality (confirmed via WikiText-2 perplexity). A threepredictor latency model (R 2 = 0.97) and break-even cost analysis provide practitioners a quantitative framework for SLM deployment decisions. Index Terms—small language models, serverless computing, cold start, quantization, llama.cpp, Cloud Run, GGUF, inference optimization
View details
CrossCheck: Input Validation for WAN Control Systems
Rishabh Iyer
Isaac Keslassy
Sylvia Ratnasamy
Networked Systems Design and Implementation (NSDI) (2026) (to appear)
Preview abstract
We present CrossCheck, a system that validates inputs to the Software-Defined Networking (SDN) controller in a Wide Area Network (WAN). By detecting incorrect inputs—often stemming from bugs in the SDN control infrastructure—CrossCheck alerts operators before they trigger network outages.
Our analysis at a large-scale WAN operator identifies invalid inputs as a leading cause of major outages, and we show how CrossCheck would have prevented those incidents. We deployed CrossCheck as a shadow validation system for four weeks in a production WAN, during which it accurately detected the single incident of invalid inputs that occurred while sustaining a 0% false positive rate under normal operation, hence imposing little additional burden on operators. In addition, we show through simulation that CrossCheck reliably detects a wide range of invalid inputs (e.g., detecting demand perturbations as small as 5% with 100% accuracy) and maintains a near-zero false positive rate for realistic levels of noisy, missing, or buggy telemetry data (e.g., sustaining zero false positives with up to 30% of corrupted telemetry data).
View details
Approaching the Privacy-Enhancing Technologies Adoption from a Requirements Engineering Perspective
Oleksandr Kosenkov
Danica Vranjanin
Abhinava Singh
Vadym Honcharenko
Volodymyr Spirin
2026
Preview abstract
In recent decades, Privacy Enhancing Technologies (PETs) have been gaining attention as a means to fulfill regulatory and user privacy requirements when processing personal data in software systems. Despite broad attention in research, support by regulators, contributions and adoption by large technological companies (like Google or Microsoft), and interest from software developers, adoption of PETs in practice is still challenging and lagging. For many years, existing research points to the same typical challenges to the adoption of PETs, such as complexity or absence of training; however, these challenges remain unresolved in practice despite the recent efforts.
In this industrial challenge paper, we take a deeper, practical requirements engineering-driven perspective on the challenges to PETs adoption across different stakeholders (namely, PETs developers and integrators, and PET adopters and users) and different disciplines (engineering, law, and business).
We suggest that the adoption of PETs should be facilitated with an in-depth understanding of engineering, business, and legal challenges to PETs, such as PETs' impact on software architecture, their business impact, and contribution to compliance. We suggest that requirements engineering research can play a crucial role in better exploring and modeling such viewpoints. In practice, requirements engineering could facilitate the coordination of the involved viewpoints to enable the adoption of existing and the development of new PETs.
View details
Evaluating Contextual Illegality: AI Compliance in Corporate Law Scenarios
Hilal Aka
Joe Kwon
Noam Kolt
Forty-third International Conference on Machine Learning (2026)
Preview abstract
AI models readily refuse explicitly unlawful requests, but real-world illegality often depends on context. We evaluate frontier models on contextual illegality across four corporate law domains in which routine actions—editing documents, trading stock, requesting payment, approving communications—become unlawful due to triggers such as pending investigations or bankruptcy filings. We study both chat and agentic settings and compare results to a human baseline. The best-performing models achieved near-zero compliance with illegal requests while maintaining high compliance with legal ones, though performance varied sharply by domain. We also identify distinct failure modes such as excessive refusal of legal requests and find improved performance from reasoning models and agentic environments. By utilizing the structure of contextual illegality to create controlled evaluations, our methodology provides empirical grounding for emerging research on law-following AI and extends naturally to additional legal domains.
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
Modern compute subsystems have evolved into complex architectures where custom Compute-IPs interface directly or downstream with a mix of in-flight 1st-party IPs (1PIP), stable legacy components, and pre-verified 3rd-party IPs (3PIP). These connections—whether coherent, non-coherent / configuration, for custom use-cases utilizing in-house protocols, etc—often require concurrent development of both the compute tiles and their integration logic to meet aggressive time-to-market goals. However, this parallel approach introduces a critical bottleneck: the subsystem cannot be verified until both the Compute-IP and the 1PIPs reach maturity. Consequently, fundamental functional misalignments—such as protocol handshaking deadlocks, clock and reset sequencing issues, and architectural assumption mismatches—often remain hidden during IP development phases, resulting in a high-risk discovery tail where "integration-killer" bugs are uncovered only when RTL rework costs and schedule impacts are prohibitive. To break this deadlock, we present a verification-driven methodology that utilizes a silicon-proven Golden Proxy, Direct-Execution Traffic Profiles, and Programmable Sequencers to provide a functional proof of concept and pre-pull critical inter-IP interaction mismatch discoveries months prior to traditional integration milestones.
View details
QProf: Fleetwide Transitive Cost Profiling for Warehouse-Scale Computers
Sam Xi
Ali Sheikh
Vance Lankhaar
Symposium on Operating Systems Principles (2026)
Preview abstract
Warehouse-scale services form the backbone of major cloud services relied on by billions of users every day. As these systems grow increasingly complex, understanding them and finding opportunities for optimization becomes more and more difficult. In this paper, we present QProf, a distributed systems profiler built upon RPC tracing. Going well beyond prior work that focuses on fleetwide profiling of single programs, QProf focuses on cost profiling of entire services. By treating a distributed program as if it were a single process, QProf can produce call-graph profiles of entire systems, so it can measure the transitive cost of services through the entire stack of backend dependencies. QProf is backed by a novel tracing mechanism called skeletal tracing which is exceedingly low-overhead and invisible to applications, ensuring that tracing minimally perturbs application behavior. An ambient per-query CPU profiler ensures high profiling coverage across thousands of microservices without manual instrumentation, and new fan-in APIs provide support for representing batched requests in a tracing data model that is tree-centric. QProf processes billions of traces per day to produce aggregated datasets which can be queried by engineers. Despite the sampled nature of traces, QProf is highly accurate in measuring QPS and CPU across thousands of microservices in an extremely diverse datacenter fleet. QProf has been deployed for every job in Google’s production fleet for several years. It has a myriad of use cases, and we present several case studies showing how it has been used to find the “room-at-the-top” in complex systems and optimize them across many dimensions.
View details
GroundSet: A Cadastral-Grounded Dataset for Spatial Understanding with Vector Data
Roger Ferrod
Maël Lecene
Krishna Sapkota
Vered Silverman
Sylvain Lobry
Computer Vision -- ECCV 2026, Springer, Cham, pp. 93-108
Preview abstract
Precise spatial understanding in Earth Observation is essential for translating raw aerial imagery into actionable insights for critical applications like urban planning, environmental monitoring and disaster management. However, Multimodal Large Language Models exhibit critical deficiencies in fine-grained spatial understanding within Remote Sensing, primarily due to a reliance on limited or repurposed legacy datasets.
To bridge this gap, we introduce a large-scale dataset grounded in verifiable cadastral vector data, comprising 3.8 million annotated objects across 510k high-resolution images with 135 granular semantic categories. We validate this resource through a comprehensive instruction-tuning benchmark spanning seven spatial grounding tasks.
Our evaluation establishes a robust baseline using a standard LLaVA architecture. We show that while current RS-specialized and commercial models (e.g., Gemini) struggle in zero-shot settings, high-fidelity supervision effectively bridges this gap, enabling standard architectures to master fine-grained spatial grounding without complex architectural modifications.
Data, pretrained model and code are available at: https://huggingface.co/datasets/RogerFerrod/GroundSet
View details
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.
View details
SemBench: A Benchmark for Semantic Query Processing Engines
Jiale Lao
Gerardo Vitagliano
Immanuel Trummer
H. V. Jagadish
Sebastian Schelter
Andreas Kipf
Matthew Russo
Kris Kissel
Michael Cochez
Andreas Zimmerer
Olga Ovcharenko
Thibaud Hottelier
Gautam Gupta
Tianji Cong
2026
Preview abstract
We present a benchmark targeting a novel class of systems: semantic query processing engines. Those systems rely inherently on zero-shot abilities of state-of-the-art large language models (LLMs). They extend SQL with semantic operators, configured by natural language instructions, that are evaluated via LLMs and enable users to perform various operations on multimodal data. Our benchmark provides variety along three axis: scenarios, modalities, and operators. Included are scenarios ranging from movie review analysis to medical question-answering. Within these scenarios, we cover different data modalities, including images, audio, and text. Finally, the queries involve a diverse set of operators, including semantic filters, joins, mappings, ranking, and classification operators.
We evaluate systems according to processing overheads and result quality. We present experimental results for an industrial semantic query processing engine (BigQuery), as well as academic systems (LOTUS, Palimpzest, and ThalamusDB). Our results shed light on the relative strengths and weaknesses of the evaluated systems, and hint at promising avenues for future research.
View details
