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 11644 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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Modern transformers have been scaled up in size, data, training-time compute, and more recently test-time compute based on Chain-of-Thought (CoT), but the consequences of trading off these parameters are unknown. We construct explicit tradeoffs between two of these aspects: the number of layers in a transformer and the number of CoT tokens. Our first result is general: with mild assumptions and a single-token prompt, for any integer k, a transformer using soft attention and SwiGLU MLP layers with L layers and n CoT tokens can be converted to a transformer with at most ckL layers and ⌈n/k⌉ CoT tokens, and vice versa, although with an increase to the size of other parameters. We then a multi-token prompt path following task, finding that additional preprocessing from the multi-token prompt changes the depth-CoT relationship in this case. We construct an attention-only network with L layers and 2^(L−2) heads that can traverse 2^(L−1) − 1 edges along a path with a single CoT token, demonstrating at least an exponential relationship between increases in depth and reductions in the number of CoT tokens needed to traverse the entire path. This relationship for the path following task holds empirically as well, as demonstrated by training networks with up to 5 layers, with the tradeoff between depth and the maximum number of edge traversals in a single CoT token exactly matching our theoretical constructions.
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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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The fundamental theorem of statistical learning establishes that binary PAC learning is governed by a single parameter---the Vapnik-Chervonenkis ($\mathtt{VC}$) dimension---which controls both learnability and sample complexity. Extending this characterization to multiclass classification has long been challenging, since the early work of Natarajan in the late 80's that proposed the Natarajan dimension ($\mathtt{Nat}$) as a natural analogue of the VC dimension.
Daniely and Shalev-Shwartz (2014) introduced the $\mathtt{DS}$ dimension, later shown by Brukhim et al.\ (2022) to characterize multiclass \emph{learnability}.
Brukhim et al.\ (2022) also demonstrated that the Natarajan and $\mathtt{DS}$ dimensions can diverge arbitrarily, so that multiclass learning appears to be governed by $\mathtt{DS}$ rather than $\mathtt{Nat}$.
We show that the agnostic multiclass PAC sample complexity is in fact governed by \emph{two distinct dimensions}. Specifically, we prove nearly tight agnostic sample complexity bounds that, up to logarithmic factors, take the form
$$
\frac{\mathtt{DS}^{1.5}}{\epsilon} + \frac{\mathtt{Nat}}{\epsilon^2}
$$
where $\epsilon$ is the excess risk. This bound is tight up to a $\sqrt{\mathtt{DS}}$ factor in the first lower-order term, nearly matching known $\mathtt{Nat}/\epsilon^2$ and $\mathtt{DS}/\epsilon$ lower bounds.
The first term reflects the DS-controlled regime, while the second reveals that the Natarajan dimension still dictates asymptotic behavior for small $\epsilon$. Thus, unlike in binary or online classification---where a single dimension (VC or Littlestone) controls both phenomena---multiclass learning inherently involves \emph{two structural parameters}.
Our technical approach departs significantly from traditional agnostic learning methods based on uniform convergence or reductions-to-realizable techniques. A key ingredient is a novel online procedure, based on a self-adaptive multiplicative-weights algorithm which performs a label-space reduction. This approach may be of independent interest and find further applications.
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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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This disclosure describes systems and methods for a multi-agent framework that can automate and scale cognitive work. The framework can, for example, use a cognitive assembly line of specialized computational agents to perform tasks such as research and drafting. A beneficial component could be an adversarial review panel (ARP), which is a multi-agent review system where distinct agent personas critique a generated draft from varied perspectives. The structured feedback from the ARP can be used to automatically iterate on and refine the work product. This approach can improve the intellectual rigor of generated content and reduce the time required for production, which may allow human operators to focus on activities such as strategic oversight and final validation.
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Proactive Heterogeneous Interconnect Arbitration via ML-Aware Compiler Hinting
Prakash Viswalingam
2026
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Modern heterogeneous Systems-on-Chip (SoCs) integrate highly diverse intellectual property (IP) blocks, including latency-sensitive CPUs, Throughput-intensive GPUs, real-time streaming display/camera engines, and massive parallel Neural Processing Units (NPUs/TPUs). Arbitrating access to a shared Network-on-Chip (NoC) and memory subsystem under such diverse traffic profiles expose a critical structural bottleneck. Traditional reactive Quality of Service (QoS) and Dynamic Voltage and Frequency Scaling (DVFS) frameworks incur substantial performance and energy penalties due to phase-locked loop (PLL) lag and transient queue saturation. This paper introduces a Compiler-Assisted Interconnect Hinting (CAIH) framework that eliminates reactive latency penalties by exploiting the deterministic nature of deep learning execution graphs. We propose a lightweight Instruction Set Architecture (ISA) extension (ICH) that allows the deep learning compiler to proactively signal upcoming memory phases, operational intensity shifts, and lookahead cycles to a centralized System QoS (SQoS) arbiter via a dedicated physical sideband channel. Experimental results extracted from cycle-accurate gem5/Garnet simulations demonstrate that our proactive framework reduces average CPU memory latency by 22%, completely eliminates display buffer underflows under heavy concurrent workloads, and achieves up to a 15% reduction in LPDDR6 memory subsystem power.
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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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A large language model for complex cardiology care
Jack W O’Sullivan
Khaled Saab
Daniel K. Amponsah
Evaline Cheng
Yong Cheng
Emily Chu
Yaanik Desai
Aly Elezaby
Muhammad Fazal
Tasmeen Hussain
Sneha S. Jain
Daniel Seung Kim
Roy Lan
Jiwen Li
Wilson Tang
Natalie Tapaskar
Victoria Parikh
Ryan Sandoval
Gabriela Spencer-Bonilla
Bryan Wu
Kavita Kulkarni
Philip Mansfield
Juro Gottweis
Joelle Barral
Ryutaro Tanno
Sara Mahdavi
Euan Ashley
Nature Medicine (2026)
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The scarcity of subspecialist medical expertise poses a considerable challenge for healthcare delivery. This issue is particularly acute in cardiology, where timely, accurate management determines outcomes. We explored the potential of Articulate Medical Intelligence Explorer (AMIE), a large language model-based experimental medical artificial intelligence system, to augment clinical decision-making in this challenging context. We conducted a randomized controlled trial comparing large language model-assisted care with the usual care of complex patients suspected of having a genetic cardiomyopathy, and we curated a real-world dataset of complex cases from a subspecialist cardiology practice. Nine participating general cardiologists were provided with access to both clinical text reports and raw diagnostic data—including electrocardiograms, echocardiograms, cardiac magnetic resonance imaging scans and cardiopulmonary exercise testing—and were randomized to manage these cases, either with or without assistance from AMIE. We developed a ten-domain evaluation rubric used by three blinded subspecialists to evaluate the quality of triage, diagnosis and management. In our randomized controlled trial with retrospective patient data, subspecialists favored large language model-assisted responses overall, and for the management plan and diagnostic testing domains, with the remaining domains considered a tie. Overall, subspecialists preferred AMIE-assisted cardiology assessments 46.7% of the time, compared with 32.7% for cardiologists alone (P = 0.02), with 20.6% rated as a tie. Subspecialists also quantified errors, extra and missing content, reasoning and potential bias. Cardiologists alone had more clinically significant errors (24.3% versus 13.1%, P = 0.033) and more missing content (37.4% versus 17.8%, P = 0.0021) than cardiologists assisted by AMIE. Lastly, cardiologists who used AMIE reported that AMIE helped their assessment more than half the time (57.0%) and saved time in 50.5% of cases.
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Uniform Laws of Large Numbers in Product Spaces
Alexander Shlimovich
Ron Holzman
Shay Moran
2026
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Uniform laws of large numbers form a cornerstone of Vapnik--Chervonenkis theory, where they are characterized by the finiteness of the VC dimension. In this work, we study uniform convergence phenomena in \emph{cartesian product spaces}, under assumptions on the underlying distribution that are compatible with the product structure. Specifically, we assume that the distribution is absolutely continuous with respect to the product of its marginals, a condition that captures many natural settings, including product distributions, sparse mixtures of product distributions, distributions with low mutual information, and more.
We show that, under this assumption, a uniform law of large numbers holds for a family of events if and only if the \emph{linear VC dimension} of the family is finite. The linear VC dimension is defined as the maximum size of a shattered set that lies on an \emph{axis-parallel line}, namely, a set of vectors that agree on all but at most one coordinate. This dimension is always at most the classical VC dimension, yet it can be arbitrarily smaller.
For instance, the family of convex sets in $\mathbb{R}^d$ has linear VC dimension~$2$, while its VC dimension is infinite already for $d\ge 2$. Our proofs rely on estimator that departs substantially from the standard empirical mean estimator and exhibits more intricate structure. We show that such deviations {from the standard empirical mean estimator} are unavoidable in this setting.
Throughout the paper, we propose several open questions, with a particular focus on quantitative sample complexity bounds.
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The promise of tailored agent behavior is undermined by a critical explainability challenge: it is difficult to assess how closely and consistently the agent follows user-defined rules. As Large Language Models (LLMs) transition from static assistants to autonomous agents, developers have pioneered markdown-based rule files (e.g., GEMINI.md, CIDER_AGENT.md) to steer agent behavior and mitigate a "organizational context gap" that emerges when general-purpose models lack the "organizational context" necessary for contextually relevant results. This paper presents a qualitative study of 12 Google software developers (n=12) to investigate the authoring and efficacy of these agent rules. Our findings reveal that while rules are intended as technical steering mechanisms, they function as a "Black Box" of validation, where 12/12 participants rely on anecdotal "vibe checks" due to a profound lack of formal evaluation and explainability frameworks. We identify this opacity as a systemic Attribution Gap, which prevents developers from discerning whether a successful outcome was the result of deliberate logic or "pure luck." Paradoxically, these files serve a dual role as "Living Documentation," bridging technical instruction for AI with sociotechnical onboarding for humans. We argue for a transition toward library-level governance and rigorous traceability to transform agent customization from an ad-hoc craft into a human-centered science by revealing the internal "seams" of rule interpretation.
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Superconducting qubits are a leading platform for realizing fault-tolerant quantum computers. Current generations demonstrate fast, high fidelity quantum gates and readout on the order of hundreds of nanoseconds, while maintaining coherence times exceeding one hundred microseconds. Achieving this state-of-the-art performance requires a tight co-design, balancing fundamental physics, microwave engineering, and semiconductor fabrication. Readout designs, in particular, benefit from this multidisciplinary approach.
In this talk, we discuss the current challenges for readout in superconducting quantum processors from the perspective of Google Quantum AI. We examine the intersection of device physics and microwave engineering constraints, illustrating how optimizing both is essential for scaling next-generation quantum systems.
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For many practical applications of quantum computing, the slowest and most costly steps involve coherently accessing classical data. We help address this challenge by applying mass production techniques, which can sometimes allow us to perform operations many times in parallel for a cost that is comparable to a single execution[1-3]. We combine existing mass-production results with modern approaches for loading classical data using ``quantum read-only memory.'' We show that quantum mass production techniques offer no benefit when we consider a cost model that focuses purely on the number of non-Clifford gates. However, analyzing the constant factors in a more nuanced cost model, we find that it may be possible to obtain a reduction in cost of an order or magnitude or more for a variety reasonably-sized fault-tolerant quantum algorithms. We present several applications of quantum mass-production techniques beyond naive parallelization, including a strategy for reducing the cost of serial calls to the same data loading step.
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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
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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.
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A common problem in private data analysis is the partition selection problem, where each user holds a set of partitions (e.g. keys in a GROUP BY operation) from a possibly unbounded set. The challenge here is in maximizing the set of released partitions while respecting a differential privacy constraint. Previous work [DVGM21] presented an optimal (ε, δ)-DP algorithm when each user submits only a single partition. We generalize this approach to find the optimal algorithm under δ-approximate (α, ε)-R´enyi differential privacy (RDP), which allows much tighter analysis under composition. Motivated by the non-existence of a general optimality result in the case where users submit multiple partitions each, we present a simple extension of our optimal algorithm tuned for L2 bounded weighted partition selection which can be used as a drop-in improvement over the Gaussian mechanism any time the partition frequency is not also needed. We show that our primitive can be easily plugged into state of the art partition selection algorithms (PolicyGaussian from [GGK+20] and MAD2R from [CCAEZ25]), improving performance both for parallel and sequential algorithms. Finally, we show that there is an inherent cost to algorithm which do support releasing the frequency as well as the partitions. Specifically, we formulate a basic notion of optimal approximate RDP algorithm for partition selection using additive noise, and show that there is a numerical separation between additive and non-additive noise mechanisms for this problem.
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