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 11495 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)
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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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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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What’s on My Network? Using Large Language Models to Identify Real-World IoT Devices at Scale
Rameen Mahmood
Danny Yuxing Huang
Proceedings of ACM International Conference on Emerging Networking Experiments and Technologies (CoNEXT), Association for Computing Machinery (2026)
MoGen: Detailed Neuronal Morphology Generation via Point Cloud Flow Matching
Franz Rieger
International Conference on Learning Representations (ICLR) (2026)
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Biological neurons come in many shapes. High-fidelity generative modeling of their varied morphologies is challenging yet underexplored in neuroscience, and crucial for the subfield of connectomics. We introduce MoGen (Neuronal Morphology Generation), a flow matching model to generate high-resolution 3D point clouds of mouse cortex axon and dendrite fragments. This is enabled by an adaptation that injects local geometric context into a scalable latent transformer backbone, allowing for the generation of high-fidelity, realistic samples. To assess MoGen's generation quality, we propose a dedicated evaluation suite with interpretable geometric and topological features tailored to neuronal structures that we validate in a user study. MoGen's practical utility is showcased through controllable generation for visualization via smooth interpolation and a direct downstream application: we augment the training set of a shape plausibility classifier from a production connectomics neuron reconstruction pipeline with millions of generated samples, thereby improving classifier accuracy and reducing the number of remaining split and merge errors by 4.4%. We estimate this can reduce manual proofreading labor by over 157 person-years for reconstruction of a full mouse brain.
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Efficient, Property-Aligned Fan-Out Retrieval via RL-Compiled Diffusion
Pengcheng Jiang
Judith Yue Li
Moonkyung Ryu
R. Lily Hu
Kun Su
Liam Hebert
Hao Peng
Jiawei Han
Dima Kuzmin
2026
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Many modern retrieval problems are set-valued: given a broad intent, the system must return a collection of results that optimizes higher-order properties (e.g., diversity, coverage, complementarity, coherence) while staying grounded to a fixed database. Set-valued objectives are inherently non-decomposable and are not captured by existing supervised (query, content) datasets which only prioritize top-1 retrieval. While reinforcement learning (RL) can optimize set-level objectives via interaction, deploying an RL-tuned LLM for fan-out retrieval is prohibitively expensive at query time. Conversely, diffusion-based generative retrieval enables efficient single-pass fan-out in embedding space, but requires objective-aligned training targets. To address these issues, we propose R4T (Retrieve-for-Train), which uses RL once as an objective transducer in a three step process: (i) train a fan-out LLM with composite set-level rewards, (ii) synthesize objective-consistent training pairs, and (iii) train a lightweight diffusion retriever to model the conditional distribution of set-valued outputs. Across Polyvore and a music playlist dataset, R4T improves retrieval quality over strong baselines while reducing query-time fan-out latency by an order of magnitude.
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Cardinality sketches are compact data structures for representing sets or vectors. These sketches are space-efficient, typically requiring only logarithmic storage in the input size, and enable approximation of cardinality (or the number of nonzero entries). A crucial property in applications is \emph{composability} of the sketching map, meaning that the sketch of a union of sets can be computed from individual sketches. Existing designs provide strong statistical guarantees, ensuring that a randomly sampled sketching map is accurate with high probability for a number of queries that is exponential in the sketch size $k$. However, these guarantees degrade to quadratic in $k$ when queries are adaptive, meaning they depend on previous responses.
Prior works on statistical queries (Steinke and Ullman, 2015) and specific MinHash cardinality sketches (Ahmadian and Cohen, 2024) established that this is tight in that they can be compromised using $\tilde{O}(k^2)$ adaptive queries. In this work, we develop a unified attack framework that applies to broad classes of cardinality sketches. We show that any union-composable sketching map can be compromised with $\tilde{O}(k^4)$ adaptive queries. Moreover, this improves to a tight bound of $\tilde{O}(k^2)$ for monotone composable maps (special cases include MinHash, statistical queries, Boolean linear maps), for any linear map over the reals $\mathbb{R}$ and finite fields $\mathbb{F}_p$, and for any linear map over the integers $\mathbb{Z}$ but when the estimator may only use the nonzero structure of the sketch (as in Cormode et al., 2003). Our work is the first to apply to general composable maps and establishes and builds on fundamental properties of these structures. Specifically for linear sketches, we are the first to establish tight quadratic bounds, to any subclass, and our bounds strengthen weaker polynomial bounds recently established by Gribelyuk et al. (2024).
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Who Controls the Curriculum for AI? The Limits of Participatory Design for Educational AI
Learning Under Algorithmic Conditions, University of Minnesota Press (2026)
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Participatory design is a long-standing effort to shift control over technology design from technologists to users and communities impacted by technologies. For educational AI, this means involving students, families, teachers, and other stakeholders in shaping the design of AI systems. While promising, in this article, I situate the recent calls for participatory design of educational AI systems within a different historical tradition—that of contests over local control of educational curricula. I argue that approaches that attempt to steer the design and development of educational AI through participatory methods may inadvertently reproduce the history of political contestation of educational curricula, in ways that may privilege the most powerful communities, rather than those inequitably impacted. What might it look like to treat participatory AI design as a site for political contestation? How might these approaches avoid reproducing the same majoritarian tendencies that led to educational inequities in the first place?
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Modern user interfaces are complex composites, with elements originating from various sources, such as the operating system, apps, a web browser, or websites. Many security and privacy models implicitly depend on users correctly identifying an element's source, a concept we term ''surface attribution.'' Through two large-scale vignette-based surveys (N=4,400 and N=3,057), we present the first empirical measurement of this ability.
We find that users struggle, correctly attributing UI source only 55% of the time on desktop and 53% on mobile. Familiarity and strong brand cues significantly improve accuracy, whereas UI positioning, a long-held security design concept especially for browsers, has minimal impact. Furthermore, simply adding a ''Security & Privacy'' brand cue to Android permission prompts failed to improve attribution. These findings demonstrate a fundamental gap in users' mental models, indicating that relying on them to distinguish trusted UI is a fragile security paradigm.
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PointDiT: Pixel-Space Diffusion for Monocular Geometry Estimation
Haofei Xu
Rundi Wu
Philipp Henzler
Nikolai Kalischek
Michael Oechsle
Fabian Manhardt
Marc Pollefeys
Andreas Geiger
Michael Niemeyer
International Conference on Machine Learning (ICML) (2026)
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Recent advances in single-image 3D reconstruction have achieved impressive fidelity. However, state-of-the-art methods often retain significant architectural overhead, relying on hybrid backbones or compressed latent representations to ensure performance. In this work, we investigate whether such complexity is strictly necessary. In particular, we introduce a pixel-space diffusion model for single-image point map prediction built upon a plain Vision Transformer (ViT). Unlike leading approaches that depend on specialized hybrid architectures or intricate loss functions, we focus on a minimalist design. We conduct a systematic investigation into the behaviors of simple architectures, identifying the key ingredients required to achieve high-fidelity dense geometry without engineering heavy-handed priors. Through controlled experiments, we demonstrate that this streamlined approach yields results superior to latent-based methods while remaining significantly simpler than hybrid alternatives. By establishing a generic, plain ViT baseline, our framework not only offers a cleaner foundation for 3D prediction but also capitalizes on the scalability of standard vision architectures, allowing it to directly benefit from future architectural advancements and extending its potential to a wider range of 3D geometry tasks.
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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.
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Impact of User Tonalities on Coding AI Model Performance and Behavior
Selva Jagannathan
Alec Mirchandani
Discover Artificial Intelligence (2026)
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This study investigates how different user tones—rude, polite, threatening, sarcastic, and neutral—affect the performance and behavior of coding AI models like Claude Opus 4.6, Qwen 3.5, and CodeGemma. We tracked technical metrics like correctness and adherence alongside behavioral traits such as sycophancy and defensiveness. Our findings show that tone has a direct impact on model reliability, with neutral prompts achieving the peak average correctness score (5.88 on a 1–10 scale). In contrast, non-neutral stimuli incurred a measurable "correctness tax": sarcasm led to a 9.0% drop in correctness and an 82.5% jump in sycophancy, while polite prompts caused a 4.7% decrease in correctness alongside a 36.4% increase in sycophancy. Threatening tones resulted in a 1.5% loss in correctness and made models 52.9% more defensive. These results suggest that user tonality is a key factor linking technical accuracy to behavioral stability. We recommend using professional, neutral prompting to ensure better logic and less bias in AI-assisted coding, and we propose "Tonal Resilience" as a necessary benchmark for future model evaluations.
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SymptomAI: Toward a Conversational AI Agent for Everyday Symptom Assessment
Joe Breda
Fadi Yousif
Beszel Hawkins
Marinela Cotoi
Miao Liu
Ray Luo
Sam Schmidgall
Girish Narayanswamy
Samuel Solomon
Max Xu
Longfei Shangguan
Bhavna Daryani
Buddy Herkenham
Cara Tan
Mark Malhotra
Shwetak Patel
Zach Wasson
Dimitrios Antos
Bob Lou
Matthew Thompson
Jonathan Richina
Anupam Pathak
Nichole Young-Lin
Jake Sunshine
Daniel McDuff
Arxiv preprint, 2605.040 (2026) (to appear)
Preview abstract
Language models excel at diagnostic assessments on curated medical case-studies and vignettes, performing on par with, or better than, clinical professionals. However, existing studies focus on complex scenarios with rich context making it difficult to draw conclusions about how these systems perform for patients reporting symptoms in everyday life. We deployed SymptomAI, a set of conversational AI agents for end-to-end patient interviewing and differential diagnosis (DDx), via the Fitbit app in a study that randomized participants (N=13,917) to interact with five AI agents. This corpus captures diverse communication and a realistic distribution of illnesses from a real world population. A subset of 1,228 participants reported a clinician-provided diagnosis, and 517 of these were further evaluated by a panel of clinicians during over 250 hours of annotation. SymptomAI DDx were significantly more accurate (OR = 2.56, p < 0.001) than those from independent clinicians given the same dialogue in a blinded randomized comparison. Moreover, agentic strategies which conduct a dedicated symptom interview that elicit additional symptom information before providing a diagnosis, perform substantially better than baseline, user-guided conversations (p < 0.001). An auxiliary analysis on 1,509 conversations from a general US population panel validated that these results generalize beyond wearable device users. We used SymptomAI diagnoses as labels for all 13,917 participants to analyze over 500,000 days of wearable metrics across nearly 400 unique conditions. We identified strong associations between acute infections and physiological shifts (e.g., OR > 7 for influenza). While limited by self-reported ground truth, these results demonstrate the benefits of a dedicated and complete symptom interview compared to a user-guided symptom discussion, which is the default of most consumer LLMs.
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Inhibitory normalization of error signals improves learning in neural circuits
Roy Henha Eyono
Jonathan Cornford
Arna Ghosh
Daniel Levenstein
Neural Computation (2026)
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Normalization is a critical operation in neural circuits. In the brain, there is evidence that normalization is implemented via inhibitory interneurons and allows neural populations to adjust to changes in the distribution of their inputs. In artificial neural networks (ANNs), normalization is used to improve learning in tasks that involve complex input distributions. However, it is unclear whether inhibition-mediated normalization in biological neural circuits also improves learning. Here, we explore this possibility using ANNs with separate excitatory and inhibitory populations trained on an image recognition task with variable luminosity. We find that inhibition-mediated normalization does not improve learning if normalization is applied only during inference. However, when this normalization is extended to include back-propagated errors, performance improves significantly. These results suggest that if inhibition-mediated normalization improves learning in the brain, it acts primarily on learning signals rather than solely on sensory inputs.
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Mining Attribute Subspaces for Efficient Fine-tuning of 3D Foundation Models
Yu Jiang
Hanwen Jiang
Vincent Chu
Brandon Y. Feng
Zhangyang Wang
Qixing Huang
IEEE/CVF Conference on Computer Vision and Pattern Recognition (2026)
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With the emergence of 3D foundation models, there is growing interest in fine-tuning them for downstream tasks, where LoRA is the dominant fine-tuning paradigm. As 3D datasets exhibit distinct variations in texture, geometry, camera motion, and lighting, there are interesting fundamental questions: 1) Are there LoRA subspaces associated with each type of variation? 2) Are these subspaces disentangled (i.e., orthogonal to each other)? 3) How do we compute them effectively? This paper provides answers to all these questions. We introduce a robust approach that generates synthetic datasets with controlled variations, fine-tunes a LoRA adapter on each dataset, and extracts a LoRA sub-space associated with each type of variation. We show that these subspaces are approximately disentangled. Integrating them leads to a reduced LoRA subspace that enables efficient LoRA fine-tuning with improved prediction accuracy for downstream tasks. In particular, we show that such a reduced LoRA subspace, despite being derived entirely from synthetic data, generalizes to real datasets. An ablation study validates the effectiveness of the choices in our approach.
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Surviving the perfect storm: how hardware PMs can beat the AI tax and trade tariffs
Mind The Product (2026)
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This piece analyzes how hardware product managers can navigate the financial pressure of AI-related costs and trade tariffs. It presents a practical framework for deploying the Joint Development Model (JDM) as a product development strategy to balance innovation with cost efficiency, enabling sustainable growth for next-generation AI-native consumer devices.
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