Loop closure detection is important for simultaneous localization and mapping (SLAM), which associates current observations with historical keyframes, achieving drift correction and global relocalization. However, a falsely detected loop can be fatal, and this is especially difficult in repetitive environments where appearance-based features fail due to the high similarity. Therefore, verification of a loop closure is a critical step in avoiding false positive detections. Existing works in loop closure verification predominantly focus on learning invariant appearance features, neglecting the prior knowledge of the robot's spatial-temporal motion cue, i.e., trajectory. In this letter, we propose ROVER, a loop closure verification method that leverages the historical trajectory as a prior constraint to reject false loops in challenging repetitive environments. For each loop candidate, it is first used to estimate the robot trajectory with pose-graph optimization. This trajectory is then submitted to a scoring scheme that assesses its compliance with the trajectory without the loop, which we refer to as the trajectory prior, to determine if the loop candidate should be accepted. Benchmark comparisons and real-world experiments demonstrate the effectiveness of the proposed method. Furthermore, we integrate ROVER into state-of-the-art SLAM systems to verify its robustness and efficiency. Our source code and self-collected dataset are available at https://github.com/jarvisyjw/ROVER.

Speculative decoding accelerates large language model inference by using smaller draft models to generate candidate tokens for parallel verification. However, current approaches are limited by sequential stage dependencies that prevent full hardware utilization. We present PipeSpec, a framework that generalizes speculative decoding to $k$ models arranged in a hierarchical pipeline, enabling asynchronous execution with lightweight coordination for prediction verification and rollback. Our analytical model characterizes token generation rates across pipeline stages and proves guaranteed throughput improvements over traditional decoding for any non-zero acceptance rate. We further derive closed-form expressions for steady-state verification probabilities that explain the empirical benefits of pipeline depth. Experimental results show that PipeSpec achieves up to 2.54$\times$ speedup while outperforming state-of-the-art methods. We validate PipeSpec across text summarization and code generation tasks using LLaMA 2 and 3 models, demonstrating that pipeline efficiency increases with model depth, providing a scalable approach to accelerating LLM inference on multi-device systems.

Trojan backdoors can be injected into large language models at various stages, including pretraining, fine-tuning, and in-context learning, posing a significant threat to the model's alignment. Due to the nature of causal language modeling, detecting these triggers is challenging given the vast search space. In this study, we propose a multistage framework for detecting Trojan triggers in large language models consisting of token filtration, trigger identification, and trigger verification. We discuss existing trigger identification methods and propose two variants of a black-box trigger inversion method that rely on output logits, utilizing beam search and greedy decoding respectively. We show that the verification stage is critical in the process and propose semantic-preserving prompts and special perturbations to differentiate between actual Trojan triggers and other adversarial strings that display similar characteristics. The evaluation of our approach on the TrojAI and RLHF poisoned model datasets demonstrates promising results.

Face verification is a well-known image analysis application and is widely used to recognize individuals in contemporary society. However, most real-world recognition systems ignore the importance of protecting the identity-sensitive facial images that are used for verification. To address this problem, we investigate how to implement a secure face verification system that protects the facial images from being imitated. In our work, we use the DeepID2 convolutional neural network to extract the features of a facial image and an EM algorithm to solve the facial verification problem. To maintain the privacy of facial images, we apply homomorphic encryption schemes to encrypt the facial data and compute the EM algorithm in the ciphertext domain. We develop three face verification systems for surveillance (or entrance) control of a local community based on three levels of privacy concerns. The associated timing performances are presented to demonstrate their feasibility for practical implementation.

Speculative decoding has emerged as a promising technique to accelerate the inference of Large Language Models (LLMs) by employing a small language model to draft a hypothesis sequence, which is then validated by the LLM. The effectiveness of this approach heavily relies on the balance between performance and efficiency of the draft model. In our research, we focus on enhancing the proportion of draft tokens that are accepted to the final output by generating multiple hypotheses instead of just one. This allows the LLM more options to choose from and select the longest sequence that meets its standards. Our analysis reveals that hypotheses produced by the draft model share many common token sequences, suggesting a potential for optimizing computation. Leveraging this observation, we introduce an innovative approach utilizing a directed acyclic graph (DAG) to manage the drafted hypotheses. This structure enables us to efficiently predict and merge recurring token sequences, vastly reducing the computational demands of the draft model. We term this approach Graph-structured Speculative Decoding (GSD). We apply GSD across a range of LLMs, including a 70-billion parameter LLaMA-2 model, and observe a remarkable speedup of 1.73$\times$ to 1.96$\times$, significantly surpassing standard speculative decoding.

We present a novel inference scheme, self-speculative decoding, for accelerating Large Language Models (LLMs) without the need for an auxiliary model. This approach is characterized by a two-stage process: drafting and verification. The drafting stage generates draft tokens at a slightly lower quality but more quickly, which is achieved by selectively skipping certain intermediate layers during drafting Subsequently, the verification stage employs the original LLM to validate those draft output tokens in one forward pass. This process ensures the final output remains identical to that produced by the unaltered LLM, thereby maintaining output quality. The proposed method requires no additional neural network training and no extra memory footprint, making it a plug-and-play and cost-effective solution for inference acceleration. Benchmarks with LLaMA-2 and its fine-tuned models demonstrated a speedup up to 1.73$\times$.

Most active learning theory is based on interacting with a Label oracle: An active learner observes unlabeled examples, each with a label that is initially hidden. The learner provides an unlabeled example to the oracle, and the oracle responds with the label. Using Label in an active learning algorithm is known to give (sometimes exponentially large) problem-dependent improvements in label complexity, even in the agnostic setting where no assumption is made about the underlying distribution [e.g., Balcan et al., 2006, Hanneke, 2007, Dasgupta et al., 2007, Hanneke, 2014]. A well-known deficiency of Label arises in the presence of rare classes in classification problems, frequently the case in practice [Attenberg and Provost, 2010, Simard et al., 2014]. Class imbalance may be so extreme that simply finding an example from the rare class can exhaust the labeling budget.