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 11628 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)
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.
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Budget-Aware Tool Use Enables Effective Agent Scaling
Tengxiao Liu
Jin Miao
I-Hung Hsu
Samira Daruki
COLM 2026 (2026)
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Scaling test-time computation improves performance across different tasks on large language models (LLMs), yet mainstream scaling methods remain challenging for tool-augmented LLM agents. Sequential scaling tends to yield shallow tool use and under-exploration, whereas parallel scaling inflates cost through repeated tool calls. The dual costs of tokens and tool calls further complicate cost accounting and hinder fair comparison. In this work, we study the test-time scaling of widely used, tool-reliant search agents under resource constraints, analyzing performance with a unified cost metric that incorporates both tokens and tool calls. To this end, we propose Cost-effective Agent Test-Time Scaling (CATS), a budget-aware framework designed to support more cost-effective scaling by guiding resource allocation between sequential and parallel exploration. Experiments across search-intensive benchmarks show that CATS produces more favorable scaling curves, attaining higher accuracy with fewer tool calls and lower overall cost. Our work introduces a cost-conscious design for agent test-time scaling and contributes empirical insights that enable a more transparent and principled understanding of scaling in tool-augmented agents.
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In "Elephants, Goldfish and the New Golden Age of Software Engineering," the author discusses how AI is changing knowledge work, especially software development. Written from the perspective of April 2026, the article points out that while AI speeds up coding, it can also quickly generate a lot of mistakes and messy code if it isn't carefully managed by human oversight and clear processes.
The paper outlines a practical approach to working with AI, broken down into three main sections:
Using AI as a Tool, Not a Toy:
The author notes that people often get poor results by asking AI to do everything in a single prompt. Instead, users should have back-and-forth conversations with AI to question assumptions, set clear grading rules, and guide the research. The main point is that humans must still provide the final judgment; AI is simply a way to speed up and record that thinking.
The Elephant-Goldfish Model:
As AI creates more code than humans can easily read, written design documents become more important than the code itself. To keep AI on track, the author suggests a two-part method:
* The Elephant: A long chat session where the human and AI discuss ideas and write a detailed design document *before* any code is written. This session holds all of the project's background information and decisions.
* The Goldfish: A brand-new AI chat session with no memory. The human asks this "goldfish" to read the design document. If the goldfish cannot understand the plan based only on that document, the document needs more details.
* Only after the design document is clear enough for the goldfish to understand does the human ask the AI to write the code based on those strict instructions.
* Managing AI and the Future of Work:
The author expects that regular employees will soon act like managers, overseeing multiple AI helpers. Because of this, workers need to learn basic management skills, like how to delegate tasks and set clear boundaries. Also, since AI will handle routine chores, humans will need to practice focusing for longer periods to do deeper, harder thinking. Ultimately, a worker's value will come from their planning and decision-making skills, rather than their ability to type code.
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Autonomous Semantic Harmonization and Decoupled Staging for Enterprise Cloud CRM and ERP Data Migration
Subhani Shaik
Universal Library of Engineering and Technology (2026)
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Large-scale enterprise mergers, acquisitions (M&A), and cloud digital transformations routinely face severe operational deadlocks during the migration of historical, transactional, and customer data across heterogeneous cloud software ecosystems. Specifically, migrating deep relational object hierarchies from Customer Relationship Management (CRM) platforms (e.g., Salesforce) into financial transaction ledgers in Enterprise Resource Planning (ERP) systems (e.g., NetSuite, SAP, Oracle ERP) introduces cross-system impedance mismatch, relational orphaning, and data drift. Standard industry data migration tools—such as Salesforce Data Loader, NetSuite Bulk Upload, and point-to-point Extract, Transform, Load (ETL) scripts—rely on rigid, manual one-to-one field mappings and synchronous write pipelines that necessitate disruptive production cutover windows.
In this paper, we present the Autonomous Semantic Harmonization Framework (ASHF), a formal architectural protocol designed to govern high-stakes cloud CRM and ERP data migrations. ASHF replaces point-to-point scripting (O(N²) integration complexity) with a centralized Knowledge-Graph-Driven Semantic Resolution Hub (O(N) complexity) that autonomously maps conflicting relational entities across source and target schemas. Furthermore, ASHF introduces a Decoupled Quarantined Staging Engine coupled with an Asynchronous Data Triage and Total Rollback Verification Protocol, enabling continuous extraction and mathematical referential verification without interrupting live source systems. Empirical benchmarks across multi-tenant enterprise migrations demonstrate that ASHF achieves 100% relational data integrity (zero data loss), reduces human-in-the-loop data mapping design effort by 50%, cuts financial audit reconciliation times by 50%, and compresses end-to-end migration build schedules by 30% compared to standard linear ETL tools.
Index Terms— Cloud Data Migration, Enterprise Systems Unification, Customer Relationship Management (CRM), Enterprise Resource Planning (ERP), Knowledge Graphs, Zero-Downtime Migration, Semantic Harmonization.
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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.
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Optical health sensing algorithms, such as SpO2, sleep monitoring, and metabolic health sensing, critically depend on the accurate measurement of optical emission from Light Emitting Diodes (LEDs) transmitted through user tissue and detected by a photodiode (PD). A significant challenge to the reliability of these measurements is the inherent degradation of LED optical emission intensity over time due to device aging. This degradation can confound the physiological changes being monitored. Our work quantifies the impact of LED aging on sensor signal integrity, specifically examining the Current Transfer Ratio (CTR), which is a key metric defining the ratio of received photocurrent to the LED drive current used for transmission in various health sensing algorithms. We investigate the degradation characteristics across LEDs of different wavelengths. Our findings indicate a relative CTR change due to degradation ranging from 1% to 8% within 100 hours of continuous operation which translates to approximately 3.5 to 7 years of device lifetime. Furthermore, we explore the non-linearity of this degradation and the observed initial ”overshoot” phenomenon in the CTR during aging. We discuss how understanding these dynamics could inform the development of robust specifications for different physiological sensing algorithms. Finally, we present several potential solutions to mitigate the effects of LED aging. During the product design phase, integrating a calibrating photodiode or compensating circuitry around the LED can help preemptively address degradation. In the application space, run-time calibration strategies employing two differently degraded optical paths offer a promising approach to maintain measurement accuracy.
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An Empirical Study of Tablet Ergonomics: The Interplay of Temperature, Orientation, and Use Behaviors
Carmen Van Ommen
Mikki Phan
Arun Raghupathy
Daniel Huynh
Barbara Chaparro
Ergonomics in Design: The Quarterly of Human Factors Applications Journal (2026)
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To balance computational performance with thermal comfort, this study explores a consolidated hotspot architecture at the top center of a tablet. We tested hotspot (39°C, 43°C, 45°C, 47°C) and ambient temperatures (25°C, 35°C) with 60 participants, measuring perception, action likelihood, and expectation. The hotspot was observed away from high contact areas, with 43°C identified as the threshold for significant discomfort. Discomfort increased with portrait mode use and higher device and ambient temperatures, while active use duration influenced acceptability. The findings underscore the importance of thermal mapping and contextual sensing, with direct applications for software throttling thresholds of coated aluminum enclosures.
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We study the stochastic linear bandits with parameter noise model, in which the reward of action $a$ is $a^\top \theta$ where $\theta$ is sampled i.i.d.
We show a regret upper bound of $\tO \brk{\sqrt{d T \logKdelta \sigmax}}$ for a horizon $T$, general action set of size $K$ of dimension $d$, and where $\sigmax$ is the maximal variance of the reward for any action.
We further provide a lower bound of $\tOmega \brk{d \sqrt{T \sigmax}}$ which is tight (up to logarithmic factors) whenever $\log \brk{K} \approx d$.
For more specific action sets, $\ell_p$ unit balls with $p \leq 2$ and dual norm $q$, we show that the minimax regret is $\tTheta \brk{\sqrt{dT \vsigq}}$, where $\vsigq$ is a variance-dependent quantity that is always at most $4$.
This is in contrast to the minimax regret attainable for such sets in the classic additive noise model, where the regret is of order $d \sqrt{T}$.
Surprisingly, we show that this optimal (up to logarithmic factors) regret bound is attainable using a very simple explore-exploit algorithm.
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Fine-Grained Table Retrieval for Open-Domain Tabular Question Answering
Xingyu Ji
Wojciech Kosiuk
Madelon Hulsebos
Proceedings of the 11th Workshop on Automated Knowledge Base Construction (AKBC 2026), Association for Computational Linguistics
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This work introduces a fine-grained table retrieval framework for grounding large
language models in heterogeneous, open-domain relational data. Instead of encoding a query as a single vector, the approach decomposes natural
language queries into semantic components and embeds each independently, enabling
more precise matching of compositional query intent. These representations are used in a staged retrieval pipeline with component-level
search, connectivity-aware grouping, and reranking. Experiments on three TARGET benchmark corpora show consistent improvements in capped recall@k and stronger alignment between query intent and tabular structure over dense retrieval baselines, particularly for longer and more complex queries and when using lightweight embedding models.
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FUSE: Scaling Verification with Zero Labeled Data
Asher Spector
Joonhyuk Lee
Emmanuel Candès
Virginia Ma
Sarah Zhao
Regev Cohen
Yash Nair
2026
Preview abstract
Verification is rapidly emerging as a key primitive for both training and real-world deployment of large language models (LLMs). In practice, this often involves using imperfect LLM judges and reward models, as ground truth acquisition can be time-consuming and expensive. This naturally motivates asking if verification can be improved by leveraging multiple verifiers, and whether such ensembling can be done without itself requiring ground truth labels. We introduce Fully Unsupervised Score Ensembling (FUSE ), a method for ensembling verifiers that is (i) completely unsupervised and (ii) can operate on a query-conditional basis. Our main insight is that when conditional dependencies between verifiers are carefully controlled, certain spectral algorithms in the ensembling literature enjoy strong unsupervised guarantees. Despite requiring zero ground truth labels, FUSE matches or improves upon semi-supervised alternatives in test-time scaling experiments with diverse sets of generator models, verifiers, and benchmarks.
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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.
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In Search of "Weird Corners": Diagnosing the Limits of Convergent AI in Professional Creative Practice
Mark Williams
2026
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Generative AI assistants typically employ convergent interaction paradigms to resolve ambiguity. While effective for technical tasks, this risks premature convergence in creative domains, constraining output variance. Evaluating a convergent AI probe with expert creatives (N=9) indicates an interactional paradox: structural linearity provides "ignition" utility for early ideation, but misaligns with organic workflows, often inducing "aesthetic sanitization" that standardizes individualized nuance. Prioritizing constructive friction over default agreement, the experts requested active, lateral collaborators. In response, we reframe output convergence as a "full-stack" UI challenge, advocating for Generative frameworks that operationalize the Double Diamond via fluid role-shifting and productive tension.
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Mobility-Embedded POIs: Learning What a Place Is and How It’s Used from Human Movement
Shushman Choudhury
Shang-Ling Hsu
Cyrus Shahabi
Forty-third International Conference on Machine Learning (2026)
Preview abstract
Recent progress in geospatial foundation models (GeoFMs) has highlighted the
importance of learning general-purpose representations for real-world locations,
particularly Points of Interest (POIs) where human activity concentrates. Yet, ex-
isting POI representations remain largely static, drawing from textual metadata
(e.g., category labels, descriptions) and spatial attributes (e.g., coordinates, neigh-
borhood context), all of which describe what a place is, but not how it is actu-
ally used. We argue that human mobility provides a complementary and dynamic
signal, capturing real-world visitation patterns that reveal how places function in
practice. To this end, we introduce Mobility Embedded POIs (ME-POIs), a
pretraining framework that learns POI representations directly from sequences of
human visits. Each visit is encoded as a contextualized embedding that captures
the POI’s static attributes as well as its temporal and sequential context, includ-
ing when the visit occurs and which visits surround it. These visit embeddings
are aligned with learnable POI embeddings via a contrastive objective, grounding
POI representations in their real-world usage patterns. To address the long tail of
sparsely visited POIs, we transfer visitation distributions from data-rich anchors
to sparse locations, leveraging multi-scale spatial proximity to capture local and
regional patterns, and functional similarity to enable transfer across semantically
related POIs. We demonstrate the utility of ME-POIs for a set of automated map
enrichment tasks, critical in geospatial intelligence. We show empirically that
by embedding visitation dynamics, ME-POIs outperform text- and location-only
baselines, proving that mobility-informed embeddings provide a stronger founda-
tion for modeling place function and change.
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PaperBanana: Automating Academic Illustration for AI Scientists
Dawei Zhu
Sujian Li
International Conference on Machine Learning (2026)
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While AI scientists increasingly automate research tasks through advanced language models, generating publication-ready illustrations remains a labor-intensive bottleneck in the scientific workflow. To lift this burden, we introduce PaperBanana, an agentic framework for automated generation of publication-ready academic diagrams. Powered by Nano-Banana-Pro and Gemini-3-Pro, PaperBanana orchestrates a team of specialized agents to retrieve reference examples, devise detailed plans for content and style, render the image, and perform iterative refinement based on self-critique. To rigorously evaluate our framework and address the absence of dedicated benchmarks for automated academic illustration, we introduce PaperBananaBench, comprising 292 test cases for methodology diagrams curated from NeurIPS 2025 publications.
Comprehensive experiments demonstrate that PaperBanana consistently outperforms vanilla Nano-Banana-Pro across all four dimensions—faithfulness, conciseness, readability, and aesthetics—achieving human-level performance. We further show that PaperBanana seamlessly extends to statistical plots through targeted adaptations. Collectively, PaperBanana enables AI scientists to fully automate the generation of publication-ready academic illustrations.
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