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Baosheng Zhang

Publications and source records attributed to Baosheng Zhang.

3 recordsLinked to original sources

ROSETTA: Efficient and Accurate Privacy-Preserving LLM Decoding via Hybrid CKKS/TFHE Evaluation

Generative large language models (LLMs) have achieved state-of-the-art performance on many real-world tasks such as code generation and question answering. These models predominantly rely on an autoregressive decoding strategy that generates output tokens sequentially. However, their pervasive deployment raises serious privacy concerns, motivating private inference frameworks based on fully homomorphic encryption (FHE). A major limitation of existing FHE frameworks is their inefficiency in evaluating nonlinear operations, which incur substantial overhead and dominate the decode stage. In this paper, we propose ROSETTA, a hybrid CKKS/TFHE framework that overcomes this limitation. We first observe that nonlinear operations in the decode stage exhibit heterogeneous workload patterns, which can be handled effectively via a hybrid approach. We then realize this with two key contributions: 1) an adaptive segmented lookup-table protocol based on TFHE that enables efficient and accurate evaluation of nonlinear operations; and 2) a scheme-aware operator-selection framework that automatically assigns each nonlinear operator to CKKS or TFHE to minimize end-to-end decoding latency. We demonstrate that ROSETTA achieves up to $4.8\times$ Softmax speedup and $1.5$--$2.1\times$ end-to-end speedup over the SOTA framework CacheMir.

cs.CR↗

DynPL-SVO: A Robust Stereo Visual Odometry for Dynamic Scenes

Most feature-based stereo visual odometry (SVO) approaches estimate the motion of mobile robots by matching and tracking point features along a sequence of stereo images. However, in dynamic scenes mainly comprising moving pedestrians, vehicles, etc., there are insufficient robust static point features to enable accurate motion estimation, causing failures when reconstructing robotic motion. In this paper, we proposed DynPL-SVO, a complete dynamic SVO method that integrated united cost functions containing information between matched point features and re-projection errors perpendicular and parallel to the direction of the line features. Additionally, we introduced a \textit{dynamic} \textit{grid} algorithm to enhance its performance in dynamic scenes. The stereo camera motion was estimated through Levenberg-Marquard minimization of the re-projection errors of both point and line features. Comprehensive experimental results on KITTI and EuRoC MAV datasets showed that accuracy of the DynPL-SVO was improved by over 20\% on average compared to other state-of-the-art SVO systems, especially in dynamic scenes.

cs.CV↗

LSGDDN-LCD: An Appearance-based Loop Closure Detection using Local Superpixel Grid Descriptors and Incremental Dynamic Nodes

Loop Closure Detection (LCD) is an essential component of visual simultaneous localization and mapping (SLAM) systems. It enables the recognition of previously visited scenes to eliminate pose and map estimate drifts arising from long-term exploration. However, current appearance-based LCD methods face significant challenges, including high computational costs, viewpoint variance, and dynamic objects in scenes. This paper introduced an online appearance based LCD using local superpixel grids descriptor and dynamic node, i.e, LSGDDN-LCD, to find similarities between scenes via hand-crafted features extracted from LSGD. Unlike traditional Bag-of-Words (BoW) based LCD, which requires pre-training, we proposed an adaptive mechanism to group similar images called $\textbf{\textit{dynamic}}$ $\textbf{\textit{node}}$, which incrementally adjusted the database in an online manner, allowing for efficient and online retrieval of previously viewed images without need of the pre-training. Experimental results confirmed that the LSGDDN-LCD significantly improved LCD precision-recall and efficiency, and outperformed several state-of-the-art (SOTA) approaches on multiple typical datasets, indicating its great potential as a generic LCD framework.

cs.CV↗