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 11655 publications
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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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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 simple and efficient implementation of strong call by need by an abstract machine
Małgorzata Biernacka
Witold Charatonik
Journal of Functional Programming, Volume 36 (2026)
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We present an abstract machine for a strong call-by-need strategy in the lambda calculus. The machine has been derived automatically from a higher-order evaluator that uses the technique of memothunks to implement laziness. The derivation has been done with the use of an off-the-shelf transformation tool implementing the "functional correspondence" between higher-order interpreters and abstract machines, and it yields a simple and concise description of the machine. We prove that the resulting machine conservatively extends the lazy version of Krivine machine for the weak call-by-need strategy, and that it simulates the normal-order strategy in bilinear number of steps.
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Agentic AI Infrastructure in Practice: Learn These Key Hurdles to Deploy Production AI Agents Efficiently
https://swisscognitive.ch/ (2026)
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The emergence of Agentic AI—autonomous systems capable of reasoning, decision-making, and multi-step execution—represents a paradigm shift in enterprise technology. Moving beyond simple generative tasks, these agents offer the potential to solve long-standing industry pain points, with over 90% of enterprises planning integration within the next three years. However, the transition from successful proof-of-concept (PoC) to a resilient, production-grade system presents significant hurdles.
This article categorizes these challenges into three primary domains:
Technical and Engineering Hurdles: Issues such as "entangled workflows" that complicate debugging, the struggle to maintain output quality and mitigate hallucinations, and the unpredictability caused by shifting underlying models or data sources.
People, Process, and Ecosystem Hurdles: The high operational costs and unclear ROI of large models, the necessity of a new "Agent Ops" skillset, the complexity of integrating agents with disparate enterprise systems, and a rapidly evolving regulatory landscape.
The Pace of Change and Security risks: The technical debt incurred by shifting software frameworks and the expanded attack surface created by autonomous agents.
The article concludes that successful deployment requires a shift from informal "vibe-testing" to rigorous engineering discipline. By adopting code-first frameworks, establishing robust evaluation metrics (KPIs), and prioritizing functional deployment over theoretical optimization, organizations can effectively manage the lifecycle of Agentic AI and realize its transformative business value.
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Approaching the Privacy-Enhancing Technologies Adoption from a Requirements Engineering Perspective
Oleksandr Kosenkov
Danica Vranjanin
Abhinava Singh
Vadym Honcharenko
Volodymyr Spirin
2026
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In recent decades, Privacy Enhancing Technologies (PETs) have been gaining attention as a means to fulfill regulatory and user privacy requirements when processing personal data in software systems. Despite broad attention in research, support by regulators, contributions and adoption by large technological companies (like Google or Microsoft), and interest from software developers, adoption of PETs in practice is still challenging and lagging. For many years, existing research points to the same typical challenges to the adoption of PETs, such as complexity or absence of training; however, these challenges remain unresolved in practice despite the recent efforts.
In this industrial challenge paper, we take a deeper, practical requirements engineering-driven perspective on the challenges to PETs adoption across different stakeholders (namely, PETs developers and integrators, and PET adopters and users) and different disciplines (engineering, law, and business).
We suggest that the adoption of PETs should be facilitated with an in-depth understanding of engineering, business, and legal challenges to PETs, such as PETs' impact on software architecture, their business impact, and contribution to compliance. We suggest that requirements engineering research can play a crucial role in better exploring and modeling such viewpoints. In practice, requirements engineering could facilitate the coordination of the involved viewpoints to enable the adoption of existing and the development of new PETs.
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What’s on My Network? Using Large Language Models to Identify Real-World IoT Devices at Scale
Rameen Mahmood
Danny Yuxing Huang
Proceedings of ACM International Conference on Emerging Networking Experiments and Technologies (CoNEXT), Association for Computing Machinery (2026)
SNPeek: Side-Channel Analysis for Privacy Applications on Confidential VMs
Ruiyi Zhang
Albert Cheu
Adria Gascon
Michael Schwarz
Octavian Suciu
Network and Distributed System Security (NDSS) (2026)
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Confidential virtual machines (CVMs) based on trusted execution environments (TEEs) enable new privacy-preserving solutions. But CVMs are not a privacy panacea, as they are vulnerable to side-channel attacks that may compromise confidentially of workloads.
In this work, we develop the FARFETCH’D framework to help developers evaluate side-channel assisted privacy attacks that are broadly applicable to CVMs. The privacy reduction due to these attacks heavily depend on the execution environment and the workload, which varies vastly:What are avail-able attack primitives? How does the particular privacy work-load behave?This makes manual investigation and efficiently mitigating software-based side channels a cumbersome and impossible task. FARFETCH’D solves this challenge by providing a set of configurable attack primitives that can execute on real CVM hardware and automated ML-based analysis pipelines. We evaluate the effectiveness of FARFETCH’D on privacy-preserving workloads. Our results show that our approach is effective at pinpointing the vulnerability of privacy apps against side channels and help evaluating mitigation based on oblivious memory and differential privacy.
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Mind the Gap: Structure-Aware Consistency in Preference Learning
Proceedings of the 43rd International Conference on Machine Learning (ICML 2026)
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Aligning Large Language Models (LLMs) with human intent, whether through explicit reward modeling or direct methods such as DPO, fundamentally relies on minimizing a surrogate loss as a proxy for the true pairwise ranking objective. We prove that this reliance is flawed for the standard surrogate losses used: for the equicontinuous hypothesis sets characteristic of neural networks, no standard surrogate provides a meaningful consistency guarantee. Minimizing the surrogate loss to zero can leave the true ranking error arbitrarily high. To resolve this, we formulate LLM alignment within a margin-shifted ranking framework and derive $H$-consistency bounds showing that enforcing a confidence margin $\gamma$ is not merely beneficial but necessary for consistency. We further introduce Structure-Aware $H$-consistency and a corresponding objective (SA-DPO) that adapts the margin to the semantic distance between responses, preventing instability on near-synonymous pairs. Finally, we analyze the trade-off between the margin required for consistency and the model's finite capacity to satisfy it, revealing a strict hierarchy of surrogate losses: heavy-tailed surrogates (e.g., the Polynomial Hinge family) offer strictly superior consistency guarantees for capacity-bounded models compared to the logistic loss used in DPO. Experiments on UltraFeedback and Argilla DPO-Mix-7k confirm that SA-DPO consistently outperforms DPO and SimPO, with a 58.5% head-to-head win-rate in downstream generation quality.
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Dynamic Cogeneration of Bug Reproduction Test in Agentic Program Repair
José Cambronero
Renyao Wei
Grant Uy
34th ACM International Conference on the Foundations of Software Engineering (FSE) (2026)
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Bug Reproduction Tests (BRTs) have been used in many Automated Program Repair (APR) systems, primarily for validating fixes and aiding fix generation. In practice, when developers submit a patch, they often implement the BRT alongside the fix. Our experience deploying agentic APR reveals that developers desire a BRT within AI-generated patches to increase their confidence. However, canonical APR systems tend to generate BRTs and fixes separately, and focus on producing only the fix in the final patch. In this paper, we study agentic APR in the context of cogeneration, where the APR agent is instructed to generate both a fix and a BRT in the same patch. We evaluate the effectiveness of different cogeneration strategies on 120 human-reported bugs at Google and characterize different cogeneration strategies by their influence on APR agent behavior. We develop and evaluate patch selectors that account for test change to select patches with plausible fixes (and plausible BRTs). Finally, we analyze the root causes of failed cogeneration trajectories. We show that cogeneration allows the APR agent to generate BRTs for at least as many bugs as a dedicated BRT agent, without compromising the generation rate of plausible fixes, thereby reducing engineering effort in maintaining and coordinating separate generation pipelines for fix and BRT at scale.
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TFRBench: A Reasoning Benchmark for Evaluating Forecasting Systems
MD ATIK AHAMED
Qiang Cheng
Forty-third International Conference on Machine Learning (2026)
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Time-series forecasting has traditionally been evaluated solely on numerical accuracy, treating models as "black boxes'' that fail to capture the underlying reasoning. To address this gap, we introduce TFRBench, a novel benchmark designed to evaluate the reasoning capabilities of forecasting systems alongside their numerical accuracy. Unlike existing benchmarks, TFRBench requires models to generate verifiable natural language reasoning by analyzing cross-channel dependencies, identifying strategic trends, and justifying significant events using external context. To construct this benchmark, we propose a systematic multi-agent framework comprising Reasoning, Search, Verifier, Forecasting, and Summary agents. Our benchmark spans five diverse domains including Energy, Sales, Web/CloudOps, Transportation, and Finance, covering 10 distinct datasets. Qualitative evaluation confirms that our generated reasoning is highly faithful and effective; specifically, Large Language Models (LLMs) prompted with our generated reasoning demonstrate significantly improved forecasting accuracy compared to direct forecasting with LLMs. Conversely, benchmarking experiments reveal that off-the-shelf LLMs consistently struggle with both reasoning (shows lower LLM-as-Judge scores) and direct numerical forecasting (MAE and MASE), frequently failing to capture domain-specific dynamics. TFRBench thus establishes a new standard for interpretable, reasoning-based evaluation in time-series forecasting.
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High-volume enterprise service organizations face a persistent challenge in transitioning from reactive support models to proactive, preventative ones. This paper introduces the Agentic Trend-to-Knowledge (ATK) methodology, a novel, autonomous framework designed to address this gap. The ATK methodology employs an AI agent that operates in a recurring, closed loop. It first uses a two-stage process for the autonomous thematic analysis of recent support cases to identify the most significant recurring issue. It then leverages Retrieval-Augmented Generation (RAG) to source relevant institutional knowledge. A key innovation is the agent's adaptive, bimodal response: if relevant knowledge is found, it drafts a proactive communication for human review; if a knowledge gap is detected, it autonomously creates a content creation task for the appropriate team. This transforms the agent from an automation tool into a proactive process owner that creates a virtuous cycle of continuous improvement for both case deflection and knowledge base quality. By automating the entire workflow from insight to action, the ATK framework provides a concrete methodology for shifting from a "human-in-the-loop" to a more strategic "human-on-the-loop" operational paradigm.
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Modern user interfaces are complex composites, with elements originating from various sources, such as the operating system, apps, a web browser, or websites. Many security and privacy models implicitly depend on users correctly identifying an element's source, a concept we term ''surface attribution.'' Through two large-scale vignette-based surveys (N=4,400 and N=3,057), we present the first empirical measurement of this ability.
We find that users struggle, correctly attributing UI source only 55% of the time on desktop and 53% on mobile. Familiarity and strong brand cues significantly improve accuracy, whereas UI positioning, a long-held security design concept especially for browsers, has minimal impact. Furthermore, simply adding a ''Security & Privacy'' brand cue to Android permission prompts failed to improve attribution. These findings demonstrate a fundamental gap in users' mental models, indicating that relying on them to distinguish trusted UI is a fragile security paradigm.
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We analyze a balls-and-bins game against an adaptive adversary that sequentially deletes bins. Starting with n balls distributed across n bins, the adversary deletes a bin in each step, forcing the algorithm to redistribute its balls to surviving bins. We prove that after n/2 rounds, uniform random redistribution yields optimal O(n) recourse and $O(\frac{\log n}{\log \log n})$ maximum load. Furthermore, we show that applying the "power of two choices"' reduces the maximum load to $O(\log \log n)$ while maintaining linear recourse.
We also consider a variation of this game where the balls from the deleted bin are partitioned evenly among d<
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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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