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 11642 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)
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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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FabScore: Fine-Grained Evaluation of Fabrications in Automated AI Research
James Xu Zhao
See-Kiong Ng
Dongfu Jiang
Bryan Hooi
Qianyun Guo
Hui Chen
Pang Wei Koh
Muhao Chen
Yiwei Wang
2026
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In automated AI research, scientific rigor is not merely a matter of producing coherent papers and executable code; rather, it fundamentally requires that the experimental results claimed in a paper are faithfully supported by the accompanying implementation and verifiable through actual execution logs. When this alignment breaks down, AI-generated research may contain fabrications: discrepancies between the methods described in the paper and what the code actually implements, or between the reported results and those obtained by running the code. This motivates a systematic evaluation of fabrications that systematically examines the consistency between a paper's claimed experimental outcomes and its accompanying code files. In automated AI research, scientific rigor is not merely a matter of producing coherent papers and executable code; rather, it fundamentally requires that the experimental results claimed in a paper are faithfully supported by the accompanying implementation and verifiable through actual execution logs. When this alignment breaks down, AI-generated research may contain fabrications: discrepancies between the methods described in the paper and what the code actually implements, or between the reported results and those obtained by running the code. This motivates a systematic evaluation of fabrications that systematically examines the consistency between a paper's claimed experimental outcomes and its accompanying code files. This is a placeholder. This is a placeholder. This is a placeholder.
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We study the fair allocation of indivisible goods with variable groups. In this model, the goal is to partition the agents into groups of given sizes and allocate the goods to the groups in a fair manner. We show that for any number of groups and corresponding sizes, there always exists an envy-free up to one good (EF1) outcome, thereby generalizing an important result from the individual setting. Our result holds for arbitrary monotonic utilities and comes with an efficient algorithm. We also prove that the EF1 existence can be guaranteed even when the goods lie on a path and each group must receive a connected bundle. In addition, we consider a probabilistic model where the utilities are additive and drawn randomly from a distribution. We show that if there are n agents and the number of goods m is divisible by the number of groups k, then an envy-free outcome exists with high probability if m = ω(log n), and this bound is tight. On the other hand, if m is not divisible by k, then an envy-free outcome is unlikely to exist as long as m = o(√n).
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In a prior column, we wrote about how measuring productivity can be viewed as a form of modeling and that all models are wrong, but some are useful. That discussion centered on the idea of ensuring that a productivity model was inclusive of multiple metrics and that those metrics covered the various facets of productivity and covered each facet reasonably well. In that article, we set aside the question of what makes a good individual productivity metric that can be combined with others into a (hopefully) useful model of productivity. In this article, we’ll share some things we consider when building an individual metric, including an example of a novel metric we built in the aftermath of the COVID pandemic.
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From Correctness to Collaboration: A Human-Centered Taxonomy of AI Agent Behavior in Software Engineering
Extended Abstracts of the 2026 CHI Conference on Human Factors in Computing Systems (CHI EA ’26), ACM, New York, NY, USA (2026)
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The ongoing transition of Large Language Models in software engineering from code generators into autonomous agents requires a shift in how we define and measure success. While models are becoming more capable, the industry lacks a clear understanding of the behavioral norms that make an agent effective in collaborative software development in the enterprise. This work addresses this gap by presenting a taxonomy of desirable agent behaviors, synthesized from 91 sets of user-defined rules for coding agents. We identify four core expectations: Adhere to Standards and Processes, Ensure Code Quality and Reliability, Solve Problems Effectively, and Collaborate with the User. These findings offer a concrete vocabulary for agent behavior, enabling researchers to move beyond correctness-only benchmarks and design evaluations that reflect the realities of professional software development in large enterprises.
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As the ECMAScript specification evolves, industrial-scale JavaScript compilers face the challenge of supporting modern language syntax while maintaining compatibility for diverse execution environments. Traditionally, compilers solve this by running transpilation passes in a monolithic pipeline, where the transpilation passes are chosen to execute strictly based on a target language level. This results in significant computational waste, as compilers perform expensive Abstract Syntax Tree (AST) traversals to lower features that may not exist in the actual input source code. We present a static analysis improvement that conditionally executes transpiler passes based on accurately tracking and dynamically maintaining the exact set of language features seen in the compilation unit throughout the transpilation process. It is implemented in the production Google Closure Compiler. By populating and maintaining a FeatureSet at every JavaScript script-level, it dynamically skips running the unnecessary lowering passes. We detail the architectural safeguards - including strategic pass ordering and dynamic validation of the transpiled code for feature-correctness. Evaluation of this improvement on large-scale production applications produced a considerable reduction in compilation time and saved compute and memory usage.
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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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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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Looping, reusing a block of layers across depth, and depth growing, training shallow-to-deep models by duplicating middle layers, have both been linked to stronger reasoning, but their relationship remains unclear. We provide a mechanistic unification: looped and depth-grown models exhibit convergent depth-wise signatures, including increased reliance on late layers and recurring patterns aligned with the looped or grown block. These shared signatures support the view that their gains stem from a common form of iterative computation. In particular, applying inference-time looping to the middle blocks of a depth-grown model yields additional improvements in reasoning primitives accuracy, up to 2x, despite the model never being trained to loop. Building on this connection, we show that the two techniques are both adaptable and composable. Both approaches adapt better than the baseline when given more in-context examples or additional supervised fine-tuning data. Additionally, depth-grown models achieve the largest reasoning gains when using higher-quality, math-heavy cooldown mixtures, which can be further boosted by adapting a looped block in the middle of the network. Overall, our results position depth growth and looping as complementary, practical methods for inducing and scaling iterative computation to improve reasoning.
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In today's AI landscape, success depends not just on prompting large language models but on orchestrating them into intelligent systems that are scalable, compliant, and cost-effective. GenAI on Google Cloud is your hands-on guide to bridging that gap. Whether you're an ML engineer or an enterprise leader, this book offers a practical game plan for taking agentic systems from prototype to production.
Written by practitioners with deep experience in AgentOps, data engineering, and GenAI infrastructure, this guide takes you through real-world workflows from data prep and deployment to orchestration and integration. With concrete examples, field-tested frameworks, and honest insights, you'll learn how to build agentic systems that deliver measurable business value.
> Bridge the production gap that stalls 90% of vertical AI initiatives using systematic deployment frameworks
> Navigate AgentOps complexities through practical guidance on orchestration, evaluation, and responsible AI practices
> Build robust multimodal systems for text, images, and video using proven agent architectures
> Optimize for scale with strategies for cost management, performance tuning, and production monitoring
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Autonomous research agents can now produce competitive solutions and complete manuscripts, yet their papers routinely contain fabricated citations, method descriptions disconnected from the code, and scores on incorrect scales---failures invisible to evaluations that assess fluency rather than evidentiary grounding. The core problem is verifiability: no existing system maintains a traceable chain from each claim in the paper to its grounding evidence, and current evaluation protocols assess output fluency rather than evidentiary grounding. We address this with Chaine-of-Evidence (CoE), a verifiability standard requiring every claim to trace to its grounding evidence, and instantiate it in Scientist One, an end-to-end research system that maintains evidence chains natively, and CoE Audit, an evaluation protocol with four integrity checks targeting the most damaging chain failures. Auditing 60 papers from four systems, we find every baseline exhibits at least one failure: phantom citations at 4--25%, method-code alignment in at most 2/15 papers. Scientist One achieves zero phantom citations (0/830), the highest alignment rate (7/15), and competitive solver scores.
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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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The Private-Use Area (PUA) is an important part of the Unicode standard. It consists of several ranges of Unicode code points with no official character assignments. The PUA is primarily used as a temporary representation mechanism for characters outside the official standard to facilitate text entry and display of orthographies that cannot be adequately represented by other means. The primary downside of PUA is that characters lose their semantics if the pairing with the corresponding display font is broken. Consequently, they cannot be faithfully displayed in the general setting. Large-scale multilingual web corpora inevitably contain PUA code points of unclear provenance. We investigate the distribution of PUA characters within large-scale datasets, using filters for determining PUA tokens of linguistic interest. We analyze the resulting distributions both across scripts and writing systems, and show that PUA-bearing tokens can signal texts from under-represented languages. We explore whether an off-the-shelf large language model (LLM) can classify PUA characters as those that constitute relevant orthographic signals vs. punctuation or other noise. While the proportion of PUA-bearing paragraphs in the original corpora are small, we identify millions of paragraphs, and we argue that such data is still important for the long tail of data-scarce orthographies. Moreover, as a primary Unicode mechanism for poorly represented writing systems, the PUA is here to stay.
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Efficient, Property-Aligned Fan-Out Retrieval via RL-Compiled Diffusion
Patrick Jiang
Judith Li
Moonkyung Ryu
Lily Hu
Kun Su
Liam Hebert
Hao Peng
Jiawei Han
Dima Kuzmin
Proceedings of the 43rd International Conference on Machine Learning (ICML-26), Seoul, South Korea (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. These objectives are inherently non-decomposable, creating a training bottleneck because property-aligned (query, content) supervision is scarce. Reinforcement learning (RL) can optimize set-level objectives via interaction, but deploying an RL-tuned LLM for fan-out retrieval is expensive at query time. Diffusion-based generative retrieval enables efficient single-pass fan-out in embedding space, but requires objective-aligned training targets. We propose R4T (Retrieve-for-Train), which uses RL once as an objective transducer: (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 large-scale 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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