This is a point worth repeating. Does Apple even publish its research? I've benefitted from many papers published by Microsoft and Google's research departments

This is a point worth repeating. Does Apple even publish its research? I've benefitted from many papers published by Microsoft and Google's research departments, either directly through learning something I can apply myself, or indirectly through processes that end up in open source technology. Does Apple even publish research? Some Googling failed to turn up anything. In fact, I found an HBR paper that said Apple specifically does not publish its research. IMO, this makes Apple much less praiseworthy than Microsoft/Google/Facebook.