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 11673 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)
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
Preview abstract
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.
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
Estimating high-resolution albedo for urban applications
Elizabeth Wesley
Salil Banerjee
Aniruddh Chennapragada
Kevin Crossan
Bryce Cronkite-Ratcliff
Ellie Delich
Tristan Goulden
Mansi Kansal
Eric Mackres
Yael Mayer
Rebecca Milman
Shravya Shetty
Charlotte Stanton
Wayne Sun
Lucy Hutyra
Nature Communications (2026)
Preview abstract
Extreme urban heat poses a growing threat to global health, yet a critical cooling intervention-reflective cool roofs-lacks the high-resolution data needed for building-level planning. While satellite-based albedo estimates are globally available, their coarse resolution cannot resolve individual rooftops, limiting targeted climate action. Here we show that fusing freely available 10-m Sentinel-2 imagery with high-resolution satellite data enables urban albedo mapping at 30-cm resolution. This approach combines the radiometric accuracy and global coverage of Sentinel-2 with the spatial detail of commercial imagery to produce actionable urban datasets. Validated against airborne hyperspectral measurements (root mean square error = 0.04), the method resolves albedo at individual building footprints across diverse urban environments. Applied to 12 global cities, our analysis shows that prioritizing large-footprint buildings for cool roof retrofits can reduce citywide temperatures by up to 0.5 °C. This work validates Sentinel-2 for city-scale albedo estimation and enables globally deployable, building-scale rooftop albedo mapping to support targeted cool roof interventions.
View details
Preview abstract
Large-scale cloud-native systems generate continuous streams of operational alerts across distributed microservice architectures. On-call engineers must manually triage these alerts by correlating signals from heterogeneous observability tools, a process that is time-consuming, cognitively demanding, and prone to error. Despite advances in monitoring and anomaly detection, incident triage remains largely manual. This paper presents a declarative, large language model (LLM)–driven multi-agent approach to automating incident triage and Service Level Objective (SLO) monitoring. The proposed design constrains agent behavior using domain-expertauthored investigation workflows, enabling deterministic execution and reproducibility while preserving operational safety. The framework integrates a unified tool execution layer for interacting with diverse observability systems and an enhanced retrieval-augmented generation (RAG) pipeline optimized for operational knowledge retrieval. The approach has been evaluated in a production cloud environment spanning multiple microservices and geographic regions. Results show reductions in high-severity incident triage time from approximately 30 minutes to under 5 minutes, alert acknowledgement latency from minutes to seconds, and service onboarding effort from weeks to days. These findings suggest that constrained multi-agent systems can substantially reduce on-call cognitive load while maintaining reliability and human oversight.
View details
Preview abstract
We present FM-ChangeNet, a pathwise-supervised framework for change detection that reformulates bi-temporal reasoning as continuous transport in feature space rather than static endpoint comparison. Given encoded pre and post-temporal representations, we construct intermediate latent states and learn a time-conditioned velocity field $\hat{v}_\theta(z_t,t)$ along the transformation trajectory. This pathwise formulation constrains the predictor over a continuum of intermediate states, providing a denser and less ambiguous supervision signal than conventional endpoint-only segmentation and enabling the model to capture temporal evolution explicitly. The learned velocity field is not only a transport mechanism but also an interpretable representation of change: its magnitude serves as a spatially localized change cue that helps distinguish true structural variation from nuisance effects such as illumination shifts and spatial misalignment. We develop a hierarchical multi-scale architecture with cross-temporal alignment, time-conditioned coarse-to-fine flow decoding, and a unified objective that couples flow supervision, trajectory consistency, spatial regularization, and segmentation loss. Experiments on remote sensing benchmarks show that the proposed framework produces more structured and robust change representations while achieving state-of-the-art performance.
View details
Neural general circulation models for modeling precipitation
Stephan Hoyer
Dmitrii Kochkov
Janni Yuval
Ian Langmore
Science Advances (2026)
Preview abstract
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.
View details
Differential Validator: Ensuring SoC ROM to Hierarchical Blocks Node Voltage Integrity
Prateek Pendyala
Mathew Kaipanatu
2026
Preview abstract
SoC Flat IR/EM signoff is generally done for multiple cycles thus generally mandating 2+ days to cover a single scenario- not only is the coverage limited but also expensive since even small ECO fixes trigger full analysis repeat (of same resources). Additionally, designs which have multiple hierarchical block level instantiations - this is massively computationally redundant.
Reduced Order Model (ROM) Flow: Hierarchical Abstraction for IR/EM Signoff:
ROM eliminates computational redundancy by using abstract representations of pre-verified blocks. It leverages tweaked SoC flat analysis to have appropriate block level details to enable 10-20× faster SoC turnaround and broader scenario coverage. Below is its mechanism:
The Common Connection Layer (CCL) acts as the electrical boundary between block & SoC top. ROM preserves full detail only at the CCL and CCL-1, while the lower metal layers (M0 to CCL-2) are rolled up into equivalent impedance model to maintain signoff accuracy.
Designers use a mix of detailed instances for same critical block with reduced instances to optimize resource usage as shown in Fig 1.
The Validation Problem with ROM- Trust Gap:
Context Mismatch: ROMs are generated in standalone conditions, failing to account for top-level grid impedance and adjacent block coupling.
Fidelity & Coverage Loss: Abstracting 12-14 layers can mask local voltage violations; current manual spot-checks are insufficient since these fail to quantify if CCL node voltages in all ROM instances match their power-domain & scenario specific simulation values
Objective of this work:
Systematic validation across all ROM instances & all power domains in a quick (wall time ~mins for SoC) else it would offset ROM runtime benefits.
Quantitative fidelity metrics with low violation thresholds & spatial coverage for debug to understand root cause of localised errors.
View details
Preview abstract
Generative AI (GenAI) is evolving from standalone tools to interconnected ecosystems that integrate chatbots, cloud platforms, and third-party services. While this ecosystem model enables personalization and extended services, it also introduces complex information flows and amplifies privacy risks. Existing solutions focus on system-level protections, offering little support for users to make meaningful privacy choices. To address this gap, we conducted two vignette-based survey studies with 486 participants and a followup interview study with 16 participants. We also explored users’ needs and preferences for privacy choice design across both GenAI personalization and data-sharing. Our results reveal paradoxical patterns: participants sometimes trusted third-party ecosystems more for personalization but perceived greater control in first-party ecosystems when data was shared externally. We discuss design implications for privacy choice interfaces that enhance transparency, control, and trust in GenAI ecosystems.
View details
Preview abstract
Summing vectors is a basic task in differentially private data analysis. Standard algorithms clip vectors to some bound, sum them, and add noise scaled to the bound. While the differential privacy literature has developed a deep library of such noise addition mechanisms, it offers few tools for privately choosing the clipping bound directly from the data. We introduce a method that privately chooses a clipping bound by optimizing \emph{residual coherence}, the directional alignment of vectors exceeding the bound, against the variance cost of additional noise. We prove a close relationship between residual coherence and bias for a general class of heavy-tailed data regimes and show empirically that, across several datasets, our method outperforms existing baselines.
View details
Analyzing Bytes: Pre-Disassembly Static Binary Analysis
Soumyakant Priyadarshan
ChenCheng Jiang
R. Sekar
Proceedings of the ACM on Programming Languages, Association for Computing Machinery (2026), pp. 1127-1151
Preview abstract
Binary code analysis plays a central role in numerous applications in software security, performance optimization, reverse engineering, and so on. Existing techniques need to first disassemble binaries into functions in assembly code before an analysis can be performed. However, disassembly and function identification have proven to be major challenges for complex variable-length instruction sets such as the x86. A recent trend has been to use static analysis to improve the accuracy of these tasks. This raises a chicken-and-egg problem: a disassembly is needed for static analysis, but a static analysis is needed for accurate disassembly! We overcome this problem by developing a novel static analysis approach that can operate before committing to a disassembly. Our analysis operates on the output of exhaustive disassembly that considers each possible offset in a binary as an instruction, and constructs what is known as a super-set control-flow graph (CFG). The central technical challenge in analyzing this CFG is that it mixes legitimate instructions with unintended ones, causing analysis results from invalid code paths to pollute legitimate ones. To overcome this challenge, we begin with a key new insight that if we focus on backward analyses, we can ensure accuracy of analysis results at intended instructions even though we have no idea where these intended instructions are! Moreover, our analysis operates in time that is linear in the size of the binary. Specifically, in O(n) total time, it yields analysis results for every one of the n offsets in an n-byte binary. For this task, it is orders of magnitude faster than previous techniques, as the previous techniques typically need to repeat the analysis many times.
View details
JAXBench: Benchmarking Autonomous TPU Kernel Optimization
Vijay Janapa Reddi
Charles Hong
Arya Tschand
Julian Walker
Suvinay Subramanian
Shangkun Wang
Sethu Sankaran
Nina Cai
2026
Preview abstract
Evaluation benchmarks have driven progress in automated kernel optimization, yet existing suites target GPUs exclusively. We present JAXBench, a TPU-native benchmark for AI-generated kernel optimization on Google Cloud TPUs. JAXBench comprises 50 JAX workloads, including 17 production LLM operators extracted from architectures in the public MaxText library such as Llama-3.1, DeepSeek-V3, Mixtral, Mamba-2, and AlphaFold2, and 33 fused operator sequences adapted from KernelBench. Eight of the 17 production operators ship with hand-optimized Pallas TPU kernels from the public Tokamax library, whose block sizes we tune via grid search, establishing strong reference baselines. We evaluate one-shot generation, iterative coding agents, the same iterative loop with TPU documentation injected, and a TPU-enabled Autocomp configuration augmented with the same TPU-specific documentation. Across the full 50-benchmark suite with Gemini 3 Flash, best-of-N solves 13/50 benchmarks at 1.01x geomean and iterative refinement reaches 32/50 at 1.18x. Injecting TPU documentation lifts iterative refinement to 48/50 at 1.28x and raises per-sample correctness from 5.8% to 37.3%. Autocomp solves 45/50 but converts those correct kernels into 1.36x geomean with 76% of benchmarks beating XLA. On the 8 hand-tuned references, Autocomp reaches 1.60x against the XLA baseline, showing strong performance against the 2.08x Tokamax geomean but trailing on the specialized paged and ragged attention operators. A Gemini 3.1 Pro ablation lifts Autocomp to 49.1% per-sample correctness and a 3.13x geomean. High-quality TPU kernel generation remains open, and we release the benchmark, profiling harness, and baseline results to support reproducible research.
View details
Preview abstract
Online video platforms face an exponential challenge
in detecting and mitigating the flood of AI-generated “slop”
and synthetic spam perpetuated by coordinated malicious actors.
This content is increasingly designed to exploit the limitations
of traditional media forensics, often utilizing generative AI to
produce unique, localized variations of harmful or low-quality
material at scale. Traditional content-centric moderation fails
against this coordinated, adversarial generation strategy.
This paper presents a novel, scalable detection and classifi-
cation framework designed for online video platforms (OVP) to
identify and triage clusters of coordinated accounts exhibiting
a prevalence of adversarial synthetic content. The approach
leverages a multi-faceted architecture incorporating two core
machine learning components: a robust Coordinated Bot-Net
Detector (via Account Relatedness) and a Synthetic Pattern Clas-
sifier. Crucially, we introduce an advanced AI enhancement layer
utilizing Large Language Models (LLMs), specialized via Low-
Rank Adaptation (LoRA) and Automatic Prompt Optimization
(APO), to achieve rapid, high-precision semantic understanding
of emerging synthetic spam trends.
Evaluated across a representative evaluation dataset (N =
16, 250 weekly candidate channels across six major synthetic
abuse verticals), the system demonstrates high precision (FPR <
0.05%) in identifying coordinated synthetic spam networks.
Furthermore, the LLM-driven classification achieves a 74%
automated triage routing rate, saving over 1, 100 operational
review hours per week while reducing investigation turnaround
times by up to 50% (p < 0.001). This work details a critical
system design that provides essential scalability and adversarial
resilience against sophisticated generative attacks.
View details
A probabilistic framework for learning non‐intrusive corrections to long‐time climate simulations from short‐time training data
Benedikt Barthel
Rob Carver
Fei Sha
Themistoklis Sapsis
Journal of Advances in Modeling Earth Systems (2026)
Preview abstract
Despite advances in high performance computing, accurate numerical simulations of global atmospheric dynamics remain a challenge. The resolution required to fully resolve the vast range scales as well as the strong coupling with—often not fully-understood—physics renders such simulations computationally infeasible over time horizons relevant for long-term climate risk assessment. While data-driven parameterizations have shown some promise of alleviating these obstacles, the scarcity of high-quality training data and their lack of long-term stability typically hinders their ability to capture the risk of rare extreme events. In this work we present a general strategy for training variational (probabilistic) neural network models to non-intrusively correct under-resolved long-time simulations of turbulent climate systems. The approach is based on the paradigm introduced by Barthel Sorensen et al. (2024, https://doi.org/10.1029/2023ms004122) which involves training a post-processing correction operator on under-resolved simulations nudged toward a high-fidelity reference. Our variational framework enables us to learn the dynamics of the underlying system from very little training data and thus drastically improve the extrapolation capabilities of the previous deterministic state-of-the art—even when the statistics of that training data are far from converged. We investigate and compare three recently introduced variational network architectures and illustrate the benefits of our approach on an anisotropic quasi-geostrophic flow. For this prototype model our approach is able to not only accurately capture global statistics, but also the anistropic regional variation and the statistics of multiple extreme event metrics—demonstrating significant improvement over previously introduced deterministic architectures.
View details
Extracting electromagnetic bare mode couplings in large superconducting quantum processors
Reza Molavi
Ebrahim Forati
Yaxing Zhang
Andrey Klots
Juan Atalaya
Brandon Langley
Dogan Timucin
Moein Nazari
Ghazi Khan
ZLATKO MINEV
Michel Devoret
Alexander Korotkov
Submission in process (2026)
Preview abstract
High-fidelity control of superconducting quantum processors requires accurate characterization of electromagnetic coupling strengths among the device’s constituent elements. Accurately extracting these couplings across large-scale architectures, presently featuring hundreds of qubits, poses a challenging multi-scale modeling problem. This requires resolving scales from the nanometer-scale geometry of Josephson junctions and their leads to the centimeter-scale size of the enclosing metallic packages. We present four numerical coupling extraction methods based on the avoided level crossing, the energy participation ratio, the induced electromotive force, and the impedance matrix. These methods are tailored to work with commercially available 3D electromagnetic solvers. We benchmark these techniques on a 10 × 10 array of transmon qubits, extracting their couplings to standing package modes. Our results show that these methods yield consistent coupling strengths with a maximum relative difference of less than 5%.
View details
