SAFEN ET : A S ECURE , A CCURATE AND F AST N EURAL N ETWORK I NFERENCE
A BSTRACT
The advances in neural networks have driven many companies to provide prediction services to users in a wide range of applications.
However, current prediction systems raise privacy concerns regarding the user’s private data.
A cryptographic neural network inference service is an efﬁcient way to allow two parties to execute neural network inference without revealing either party’s data or model.
Nevertheless, existing cryptographic neural network inference services suffer from enormous running latency; in particular, the latency of communication-expensive cryptographic activation function is 3 orders of magnitude higher than plaintextdomain activation function.
And activations are the necessary components of the modern neural networks.
Therefore, slow cryptographic activation has become the primary obstacle of efﬁcient cryptographic inference.
In this paper, we propose a new technique, called SAFENet, to enable a Secure, Accurate and Fast nEural Network inference service.
To speedup secure inference and guarantee inference accuracy, SAFENet includes channel-wise activation approximation with multiple-degree options.
This is implemented by keeping the most useful activation channels and replacing the remaining, less useful, channels with variousdegree polynomials.
SAFENet also supports mixed-precision activation approximation by automatically assigning different replacement ratios to various layer; further increasing the approximation ratio and reducing inference latency.
Our experimental results show SAFENet obtains the state-of-the-art inference latency and performance, reducing latency by 38% ∼ 61% or improving accuracy by 1 . 8% ∼ 4% over prior techniques on various encrypted datasets.
I NTRODUCTION
Neural network inference as a service (NNaaS) is an effective method for users to acquire various intelligent services from powerful servers.
NNaaS includes many emerging, intelligent, client-server applications such as smart speakers, voice assistants, and image classiﬁcations Mishra et al.
However, to complete the intelligent service, the clients need to upload their raw data to the model holders.
The network model holders in the server are able to access, process users’ conﬁdential data from the clients, and acquire the raw inference results, which potentially violates the privacy of clients.
So there is an urgent requirement to ensure the conﬁdentiality of users’ ﬁnancial records, healthy-care data and other sensitive information during NNaaS.
Modern cryptography such as Homomorphic Encryption (HE) by Gentry et al.
(2009) and
MultiParty Computation (MPC) by Yao (1982) enables secure inference services that protect the user’s private data.
During secure inference services, the provider’s model is not released to any users and the user’s private data is encrypted by HE or MPC.
CryptoNets proposed by Gilad-Bachrach et al.
(2016) is the ﬁrst HE-based secure neural network on encrypted data; however, its practicality is limited by enormous computational overhead.
For example, CryptoNets takes ∼ 298 seconds to perform one secure MNIST image inference on a powerful server; its latency is 6 orders of magnitude longer than the unencrypted inference.
MiniONN by Liu et al.
(2017) and Gazelle by Juvekar et al.
(2018) prove that using a hybrid of HE and MPC it is possible to design a lowlatency, secure inference.
Although Gazelle signiﬁcantly reduces the MNIST inference latency of
CryptoNets into ∼ 0.3 seconds, it is still far from practical on larger dataset such as CIFARand CIFAR-100, due to heavy HE encryption protocol and expensive operations.
For instance,
Gazelle requires ∼ 240 seconds latency and ∼ 8.3 GB communication to perform ResNet-32 on the
CIFAR-100 dataset.
NASS by Bian et al.
(2020), CONAD by Shafran et al.
(2019) and CryptoNAS by Ghodsi et al.
(2020) are proposed to design cryptography-friendly neural network architectures, but they still suffer from heavy encryption protocol in the online phase.
Delphi by Mishra et al.
(2020) signiﬁcantly reduces the online latency by moving most heavy cryptography computations into the ofﬂine phase.
Ofﬂine computations can be pre-processed in advance.
The State-of-the-art cryptographic inference service Delphi by Mishra et al.
(2020) still suffers from enormous online latency; this is because a big communication overhead between the user and the service provider is required to support cryptographic ReLU activations.
Our experiments show that the communication overhead is proportional to ReLU units in the whole neural network.
Delphi attempts to reduce inference latency by replacing expensive ReLU with cheap polynomial approximation.
Unfortunately, most ReLU units are found to be difﬁcult to substitute without incurring a loss of accuracy.
The accuracy will be dramatically decreased as more ReLU units are approximated by polynomials.
Speciﬁcally, Delphi only replaces ∼ 42% ReLU numbers on a CNNnetwork (detailed in Section 6.2 of MiniONN by Liu et al.
and ∼ 20% ReLU numbers on ResNet-32 network, with < 1% accuracy decrease.
When Delphi approximates more ReLU units, > 3% inference accuracy will be lost compared to an all- ReLU model.
If accuracy loss is constrained, non-linear layers still occupy almost 62% to 74% total latency in CNN-7 and ResNet32 networks.
Therefore, slow, non-linear layers are still the obstacle of a fast and accurate secure inference.
Our contribution.
One key observation is that the layer-wise activation approximation strategy in
Delphi is too coarse-grained to replace the bottleneck layers in which the ReLU units are mainly located, e.g. the ﬁrst layer in CNN-7 occupies > 58% ReLU units.
The channels in bottleneck layers are difﬁcult to completely replace without a small accuracy loss.
To meet accuracy constraints and speedup secure inference, SAFENet includes a more ﬁne-grained channel-wise activation approximation to keep the most useful activation channels within each layer and replace the remaining, less important, activation channels by polynomials.
In this way, only partial channels in each layer will be approximated, which is approximate-friendly for bottleneck layers .
Another contribution of SAFENet is that automatic multiple-degree polynomial exploration in each layer is supported, compared to prior works using only degree-2 polynomials.
Additionally, SAFENet enables mixedprecision activation approximation by assigning different approximation ratios to various layers, which further replaces more ReLU units with cheap polynomials.
Our results show that under the same accuracy constraints, SAFENet obtains state-of-the-art inference latency, reducing latency by 38% ∼ 61% , or improving accuracy by 1 . 8% ∼ 4% over the prior techniques.
B ACKGROUND AND R ELATED W ORK
Threat Model and Cryptographic Primitives.
Our threat model is the same as previous work
Delphi by Mishra et al.
More speciﬁcally, we consider the service holder as a semi-honest cloud which attempts to infer clients input information but follows the protocol.
The server holds the
Convolutional Neural Network (CNN) model and the client holds the input to the network.
For linear computations, the client encrypts input and sends it to the server using a HE scheme by Mishra et al.
(2020), and
then the server returns encrypted output to the client.
The client decrypts and decodes the received output.
The secret sharing (SS) in Delphi is used to protect the privacy of intermediate results in the hidden layers.
Then garbled circuits (GC) guarantees the data privacy in the activation layers, and SS is used to securely combine HE and GC.
Other than GC, Beaver’s multiplicative
Triples (BT) proposed by Beaver (1995) is used to implement approximated activation using secure polynomials.
BT-based polynomial approximation for ReLU is 3 -orders of magnitude cheaper than
GC-based ReLU units on average, so it is used to design approximated secure activation function.
At the end of secure inference, the server has learned nothing but the client learns the inference result.
More details of cryptographic primitives can be found in Appendix A.1.
2. C RYPTOGRAPHIC I NFERENCE .
Modern neural networks usually consist of linear convolution layers and non-linear activation layers.
As Figure 1a shows, current state-of-the-art cryptographic inference, Delphi by Mishra et al.
Linear layer t
Offline:
Online:
Client
Server r t [ r t ] [ r t ] W t * [ r t ] W t * x t -r t (x t - r t ) .
W t W t (x t - r t ) .
W t
Non-linear layer t
Client
Server
Preprocess GC or BT
GC or BT -[ u t ] r t W t .
r t W t .
-u t r t W t .
-u t + u t
C t
S t
C t
S t
[Figure]
[Figure]
Offline-
[Figure] [Figure] Online-LinearOnline- [Figure]
[Figure]
has an ofﬂine phase and an online phase.
The ofﬂine phase is independent of input data and is used to prepare data for the subsequent online phase.
Each phase has linear and non-linear operations.
Ofﬂine linear layer.
During the ofﬂine linear process, the client samples a random matrix r t that has the same shape with private input x t , and then sends its encryption [ r t ] to server.
The server processes homomorphic convolutions and returns [ r t ] ∗ W t − [ u t ] to client, where W t is the t - layer network weights and [ u t ] is a ciphertext of sampled matrix by server.
The last step in the ofﬂine linear layer is that client obtains C t =
r t · W t − u t which is one part of secret sharing of x t · W t . 2.
Online linear layer.
The online linear phase aims to let the server obtain S t =
( x t − r t ) · W t + u t which is the other secret sharing part of x t · W t .
It is almost as fast as the unencrypted computation, since the online input is a plaintext x t − r t . 3.
Ofﬂine Layer-Wise Activation layer.
Delphi supports a layer-wise activation function where each activation layer either is ReLU based on GC or is the approximated polynomial based on BT.
During the ofﬂine phase, GC needs to generate and share the garbled circuits.
BT needs to generate and share the Beaver’s triples.
Online Layer-Wise Activation layer.
During the online phase of layer-wise activation, ReLU is either performed by GC or the approximated degree-2 polynomial.
The latency of approximated activation implemented by BT is 192 × smaller than ReLU based on GC.
Latency Bottleneck and Motivation.
Figure 1b shows our baseline Delphi suffers from long latency and low accuracy under coarse-grained layer-wise activation approximation.
Speciﬁcally, 0 L in Figure 1b means none of the ReLU layers and 0% ReLU units are approximated by polynomials.
The activation latency takes 72.5% of total latency.
For only the online phase, activation latency occupies ∼ 99% of the online latency.
Therefore, activation layers are the performance bottleneck.
0 L also shows the all- ReLU model achieves 85.1% accuracy.
With increased approximation layer numbers, Delphi is able to improve the approximation ratios, but the inference accuracy is decreased at the same time.
With the 84.5% accuracy constraints, Delphi at most replaces 6-layer ReLU layers, with an approximation ratio of ∼ 42% ReLU units.
Figure 2 shows the reason why the approximation ratio is so low ( 42% ); it is difﬁcult to totally replace the ReLU units by polynomials in the bottleneck layer that has > 58% ReLU units without a large decrease in accuracy.
The ReLU units in modern networks are mainly located in the ﬁrst few layers, and the ReLU numbers are usually decreased exponentially as shown in Figure 2.
Especially for much deeper neural networks on a large dataset, replacing the ﬁrst ReLU layer signiﬁcantly decreases the accuracy.
To solve the above problems, we propose a more ﬁne-grained channel-wise activation approximation method which is modelled as a hyper-parameter optimization problem.
2. P OPULATION B ASED T RAINING (PBT).
Inspired from evolutionary algorithms, Population Based Training (PBT) proposed by Jaderberg et al.
(2017) is a more efﬁcient method to jointly optimize model weights and user-speciﬁed hyper-parameters automatically during training.
Many Reinforcement Learning (RL) based hyperparameter optimization algorithms by Wang et al.
(2019) and Lou et al.
(2020) are not able to efﬁciently optimize hyper-parameters, since they simply stop training prematurely and consider partially trained accuracy as the ﬁnal accuracy or reward.
The details of PBT can be seen in ap- pendix A.2 and PBT by Jaderberg et al.
In this paper, we model the channel-wise activation approximation task as a hyper-parameter optimization problem.
[Figure] [Table]
[Figure]
C OMPARISON WITH PRIOR WORKS .
Table 1 shows a comparison between prior works and SAFENet.
TAPAS by Sanyal et al.
XONN by Riazi et al.
and soteria by Aggarwal et al.
(2020) focus on binary neural networks which uses sign () function instead of the ReLU activation, thereby suffering from inference accuracy loss.
And TAPAS by Sanyal et al.
(2018) and SHE by Lou & Jiang (2019) suffer from long-latency linear operations since they adapt a HE scheme called TFHE by Chillotti et al.
(2018) that does not support ciphertext batching operations yet.
For example, TAPAS and SHE take ∼hour and ∼ 10 seconds respectively to perform one single MNIST inference with 99% accuracy.
In contrast, our work SAFENet and Gazelle using the hybrid of batched HE and MPC are able to achieve < 1 -second latency with > 99% accuracy.
Gazelle by Juvekar et al.
and MiniONN prove the feasibility of the hybrid use of GC and HE, but they both suffer from enormous latency.
NASS by Bian et al.
(2020), CONAD by Shafran et al.
(2019), and CryptoNAS by Ghodsi et al.
(2020) try to improve Gazelle and MiniONN’s performance by the co-design of neural network architectures and cryptographic protocol, but they all require a heavy, online, cryptographic phase.
Delphi by Mishra et al.
(2020) reduces online latency by moving some online operations into the ofﬂine phase and replacing layer-wise activation by degree-2 polynomials.
Only our SAFENet supports more ﬁne-grained, channel-wise, activation approximation with multiple-degree polynomial exploration, shown in Table 1.
SAFENet also enables the mixed-precision approximation ratios for different layers.
Other than MPC and HE based neural networks, InstaHide by Huang et al.
(2020b) and TextHide by Huang et al.
(2020a) use a class of subset-sum type encryption by Bhattacharyya et al.
(2011) to protect the user’s sensitive data in machine learning service with only < 5% computational overhead and little accuracy loss.
However, an attack by Carlini et al.
(2020) shows that there is a potential security risk on the InstaHide.
Compared to the light-weight methods InstaHide and TextHide, MPC and HE provide much stronger security guarantees.
SAFEN ET
Overview.
In order to replace expensive non-linear activations by cheap linear polynomial approximations as much as possible, we mainly use three methods.
Firstly, we use ﬁne-grained activation approximation in a channel-wise manner, instead of coarse-grained approximation in a layer-wise manner.
Secondly, since different layers in neural networks have different contributions on the inference accuracy, we propose an automatic mixed-precision method to assign a proper approximation ratio for each layer.
According to the assigned approximation ratio, SAFENet replaces the corresponding channels in the ascending order of their channel important factors.
Mixed-precision further improves the total approximation ratio, given an accuracy threshold.
Moreover, SAFENet’s mixed-precision planner explores different polynomial approximations of various degrees.
SAFENet Methods Deﬁnition.
Given an T -Layer CNN model, we deﬁne that { W t } T − 1 t =0 and { A t } T − 1 t =0 are the model weights and activations, and let W t ∈ R c out × c in × w w × h w and A t ∈
R c in × w a × h a be the t -th layer model weights and activations, where c out is output channel number, c in is input channel number, w w and h w are kernels’ width and height, w a and h a are activations’ width and height.
The t -th layer output feature maps O t ∈ R c out × w o × h
o can be derived by Equation 1, where O t,i, : , : is the output feature map of t -th layer i -th channel, A t,j, : , : is the t -th layer and j -th channel activation, W t,i,j, : , : is the model parameters of t -th layer, i -th output channel and j -th input channel, w o
and h o are output feature’s width and weight, and ∗ is the convolution operation.
[Equation]
Then the channel-wise activation approximation can be deﬁned as Equation 2, where ( t +1)-th layer activation A t +1 of i -th channel is derived by expensive ReLU when the corresponding mask matrix, m
t +1 ,i = 0 , otherwise the approximated activation.
[Equation]
Equation 3 deﬁnes the mask matrix m t +1 ,i .
Here, imp order ( A t +1 ,i ) ∈
[1 , c out ] is the importance ascending order of i -th channel
A t +1 ,i in the layer ( t +1), and imp order ( A t +1 ,i ) can be derived by sort ( (cid:80) C in j =1 | W t,i,j, : , : | ) , where (cid:80) C in j =1 | W t,i,j, : , : | is the L - 1 norm of i -th channel weight, and this
L - 1 norm is proven effective as the channel importance of A t +1 ,i by prior works by Li et al.
(2017) and by Liu et al.
n t +1 in Equation 3 is the neuron number in ( t +1)-th layer and α t +1 is the activation approximation ratio in the ( t +1)-th layer.
Equation 3 shows that channel-wise activation approximation in the ( t +1)-th layer only approximate α t +1 -ratio less important activations with polynomials by setting their corresponding mask matrix entry m t +1 ,i = 1 .
Approx () activation function is enabled by multiple options including degree-3 polynomial a 1 x 3 + a 2 x 2 + a 3 x + a 4 , degree-2 polynomial b 1 x 2 + b 2 x + b 3 , and degree-0 pruning, where a 1 to a 4 and b 1 to b 3 values are derived from the model training.
The reason why we choose these three options is that our experiments show larger degree ( > 3 ) polynomial approximation is hardly convergent in training because of the uncontrollable gradient exploding, and smaller degree ( < 2 ) polynomial approximation shows worse performance.
However, the proper insertions of degree-0 pruning may help on gradient exploding in some layers.
We use hyper-parameter β t ∈ { 0 , 2 , 3 } as the polynomial degree in the
Approx () function.
Channel-Wise Activation Approximation means T activation approximation ratios { α t } T − 1 t =0 are designed in a hand-crafted manner with β t = 2 .
Mixed-Precision Activation
Approximation automatically search the optimal combination of { α t } T − 1 t =0 using our improved PBT algorithm called BTPBT.
BTPBT is described in Algorithm 1.
Multiple-degree approximation means that approximation options { β t } T − 1 t =0 are searched with α t by BTPBT algorithm.
[Table]
[Figure]
Working Flow.
Figure 3 depicts the working ﬂow of SAFENet.
At ﬁrst, the mixed-precision activation planner randomly initiates approximation parameters, { α t } T − 1 t =1 and { β t } T − 1 t =1 , to control channel-wise activation approximation and approximation options for each layer.
2 Approximation parameters including { α t } T − 1 t =1 and { β t } T − 1 t =1 are received by the neural network model to decide which activation channels are approximated ﬁrst, and then to decide which approximation method is picked up.
In each t -th layer, n t · α t unimportant channels are approximated by polynomials and n t · (1 − α t ) more important channels are kept as original activation function, e.g. ReLU , according to Equation 2 and Equation 3.
The approximation methods for n t · α t unimportant ReLU units are decided.
The approximation option consists of multiple-degree polynomials, including degreeβ t polynomials, where β t ∈ { 0 , 2 , 3 } .
The neural network model with channel-wise activation approximation is performed for several times and outputs its inference accuracy.
The mixedprecision activation planner uses the BTPBT method to compute the optimizing score deﬁned in
Equation 4, aware of accuracy and reduced latency at the same time.
The generated score is used to guide the approximation parameters in the next iteration.
These steps repeat until cryptographic inference accuracy and latency threshold are satisﬁed.
Score.
The goal of our SAFENet is to reduce cryptography latency by replacing expensive original activation with cheap approximated activation as much as possible, given the user-deﬁned accuracy threshold.
Equation 4 is used to assign a score for the channel-wise activation approximation parameters α t and β t .
(cid:80) Tt =
1 α t × n t is the number of ReLU units that are replaced.
R ( β t ) means the reduced time ratio using a degree- β t polynomial to replace ReLU units.
For example,
R ( β t = 3) = 1 − 0 .
2 20 . 1 = 99 .
9% , since amortized degree-3 polynomial and ReLU cost 0.2 us and 20.1 us , respectively.
Therefore, (cid:80) Tt =
1 α t × n t × R ( β t ) represents the reduced ratio of total latency.
Our score keeps the balance of accuracy and efﬁciency, enabling users to replace more activation neurons with multiple approximated polynomial degrees, while meeting the accuracy constraints.
[Equation]
W
Layer#: α [0] α [0]
[Table] [Table]
[1] α [2] α [2] α [3] α [3]
[Equation]
3 PBT:
BTPBT:
α : α : α : α : α
[Equation]
α 2 α : α :
PBT( α [Equation] α 0 ,α [-2 =α 0 ,D,W ) α 
-][Equation]
0 ,D,W )
α {+
 α+} 4 α : α : α 5 α 6 PBT( [Equation] 3 =
α 1 ,α 4 = [Equation] 1 ,D,W, α 2 ) PBT( α [-
-]5 =α 2 ,α 6 =α 2 ,D,W, α 1 ) fixed α [0] α [0] α [1] α [1] α [2] α [2] α [3] α [3] α : α :
Pickup the best candidate, e.g. BC =
[ α 3 ,α 4 ,α 5 ,α 6 ]
PBT( α[0:3]= BC ,D,W )
PBT( α[0:3]= random_init ,D,W )
PBT( α 0 ,D,W )
(a
BTPBT example
a
layer network.
[Figure]
Mixed-Precision Activation Planner.
Finding appropriate parameters α t and β t to achieve a higher score in Equation 4 is a typical hyper-parameter optimization problem.
Hand-crafted optimization for parameters is only practical to handle the search space of a single pair of α and β for all layers, which conﬁnes the improvement effect on activation approximation.
Therefore, mixed-precision activation approximation is proposed to enable each layer to have unique α i and β i .
However, applying hyper-parameter optimization methods to automatically search mixed-precision activation approximation is non-trivial.
This is because of the enormous search space of α t and β t for each layer.
Assume α t ∈ [0 , 1] and it is discretized into the times of 0.05, therefore 21 options; β t ∈ { 0 , 2 , 3 } , has 3 options.
If a neural network model has T layers, the search space is (3 × 21) T .
For this large search space, even PBT by Jaderberg et al.
and
Deep Reinforcement Learning (DRL) based methods by Wang et al.
(2020) suffer from slow learning speed and low approximation ratio.
Figure 4b shows PBT and DRL methods cannot effectively reduce latency by mixed-precision activation approximation.
We propose a Binary-Tree PBT algorithm (BTPBT) in Algorithm 1 to enable the hyper-parameters search of α t and β t .
BTPBT in Algorithm 1 takes the T -layer neural network M T , training data D and accuracy threshold A t as inputs, and returns all the searched α t and β t with updated weights
W , accuracy A and score S .
Instead of using PBT to search all α [0 : T − 1] and β [0 : T − 1] directly, BTPBT starts from an easier task that limits all α [0 : T − 1] sharing the same value, e.g. α , and all β [0 : T − 1] sharing the same value, e.g. β .
This searching process about root nd is shown in the line 1 of Algorithm 1.
Then the root nd with all T layers is equally divide into two child nodes using BinaryDivide () function, so that the left child has the ﬁrst-half layers of root nd and the right child has the remaining layers.
We then perform PBT on both left and right child nodes, and limit all layers in each child share the same α and β .
Here, the total approximated activation channels of two child nodes should be larger than the approximated channels of the parent node.
The child nodes will become new root nodes and PBT will be performed repeatedly on sibling nodes until the root queue is null in Algorithm 1.
The PBT operations in the binary tree can also be used for the warm-starting initialization for the joint search of all α
[0 : T − 1] and β [0 : T − 1] shown in line 8 ∼ 9 of Algorithm 1.
Figure 4a shows a comparison of PBT and BTPBT for a T -layer network ( T = 4 ).
PBT directly performs a joint search on α [0 : T − 1] and β [0 : T − 1] (We skip the β in Figure 4a due to space limitation).
The enormous search space and random initialization of α [0 : T − 1] and β [0 : T − 1] make PBT difﬁcult to learn useful information in training.
Therefore directly using PBT suffers from slow learning speed and inadequate searching results.
To solve this issue, we use BTPBT to ﬁrstly search one single α 0 for all layers and then search more α iteratively in a binary tree order.
In this way, the intermediate results about α , β and weights W can be used for the ﬁnal results or the candidates of the further search.
For instance, the intermediate result with the largest score
S can be considered as the best candidate for the warm-starting initialization for the joint search of α [0 : T − 1] .
More details about BTPBT can be seen at Appendix A.3.
Figure 4b depicts the learning curves of PTB, DRL by Wang et al.
(2020), and our SAFENet.
All these methods are used to search hyper-parameters α t and β t for the same score shown in Equation 4.
After 200 training epochs, BTPBT is able to replace ∼ 80% neurons, but PBT and DRL only replace < 30% neurons.
In the beginning of training, our baselines and BTPBT are given the same pre-trained model.
The
DRL setting is speciﬁed in Wang et al.
For PBT and our work, the evolution cycle between two exploitation is 20 iterations, and 50 workers are used to simultaneously search parameters.
For
BTPBT, each two sibling nodes and the root node require a PBT separately, therefore 2 levels PBT is required.
We set 20 epochs for each node’s PBT.
We use 40 epochs to jointly search the activation approximation.
The total 200 epochs with 50 workers take ∼ 7 GPU hours.
Threat model of BTPBT planner.
Our BTPBT takes the all- ReLU neural network model M T and training data D as inputs in the server side, and outputs a well-trained polynomial-approximated neural network P T .
The P T is used to provide a privacy-preserving machine learning inference service that takes the client’s encrypted sensitive data D inf as input, and outputs the encrypted prediction result to the client.
So our BTPBT does NOT impact the privacy of user’s data D inf .
BTPBT shares the same threat model with our baseline Delphi by Mishra et al.
E XPERIMENTAL M ETHODOLOGY
Benchmarks and Dataset.
Our secure inference experiments rely on CIFAR-10 and CIFARdatasets.
Both CIFAR-10 and CIFAR-100 contain 50000 training images and 10000 testing images, where each image size is 32 × 32 × 3.
Images in CIFAR-10 are classiﬁed into 10 classes, but CIFAR100 has 100 classes.
Our baseline Delphi shows that CIFAR-100 is the most difﬁcult dataset in the existing secure inference.
We adopt CNN-7 speciﬁed in MiniONN by Liu et al.
(2017) to evaluate
CIFAR-10.
This CNN-7 architecture is also used in Delphi by Mishra et al.
Moreover, a deeper network VGG-16 by Geifman (2017) is evaluated to further improve inference accuracy on
CIFAR-10.
For CIFAR-100, ResNet-32 by He et al.
(2016) is evaluated.
Systems Setup.
We ran the secure inference models on two instances.
They are equipped with an Intel Xeon E7-4850 CPU and 16 GB DRAM.
The communication links between these two instances are in the LAN setting, and each instance uses 4 threads, same as the previous works.
The hyper-parameters optimization for activation replacement requires an NVIDIA Tesla V100 GPU.
The SEAL library by SEAL and Multi-Protocol fancy-garbling library by Carmer et al.
(2019) are used to implement HE and garbled circuits functions.
To avoid overﬂow, our experiments adopt 15bit ﬁxed point representation and the Least Signiﬁcant Bits of intermediate results are also truncated to 15 bits.
The hyper-parameters selection is implemented in Python, and the BTPBT is constructed based on regular PBT by Jaderberg et al.
(2017) in Tune platform by Liaw et al.
R ESULTS
[Figure]
Ablation Effects.
Figure 5 describes the ablation effects of proposed techniques on CIFARwith CNN-7 and VGG-16.
CW, MP, and MD mean Channel-Wise, Mixed-Precisicion and Multiple
Degrees, respectively.
Square, triangle and cross marks in Figure 5 represent degree-3, degreepolynomial approximation and pruning, respectively.
For the CNN-7 in Figure 5a, our baseline
Delphi approximates ∼ 41% activation by replacing the ReLU in the last 6 layers with degreepolynomials.
Channel-wise (CW) activation approximation using α = 0 .
5 and β = 2 on all layers is able to achieve the same inference accuracy, while replacing more expensive activation neurons.
Channel-wise under mixed precision (CW-MP) further improves the approximation ratio of the regular channel-wise method.
Other than channel-wise approximation and mixed precision, Figure 5a shows that the approximation ratio also beneﬁts from exploring multiple degrees in various layers (CW-MP-MD).
Figure 5b depicts the ablation study of a deeper network VGG-16.
Our SAFENet with CW-MP-MD improves the approximation ReLU numbers of Delphi by 28% under the same accuracy.
[Table] [Table]
CIFAR-10.
Table 2 shows the comparisons of CNN-7 implemented by prior techniques and
SAFENet on CIFAR-10.
Compared to Gazelle, Delphi not only moves the HE-based linear operations to the ofﬂine, but also reduces ∼ 41% online and ofﬂine activation latency without signiﬁcant accuracy loss.
Our work SAFENet has similar latency with Delphi in the linear layer, but
SAFENet remarkably reduces latency at non-linear activation layers.
More speciﬁcally, SAFENet eliminates ∼ 66% online and ofﬂine latency in activation layers, and reduces ∼ 61% total latency with higher accuracy than Delphi.
Delphi-Fast further reduces the latency of Delphi by trying to approximate more activation than Delphi, but it suffers from a signiﬁcantly accuracy decrease.
For instance, Delphi-Fast decreases 2% accuracy when it has similar latency with SAFENet.
We also evaluated a deeper neural network VGG-16 on CIFAR-10 shown in Table 3.
When Gazelle and Delphi have similar accuracy, Delphi only reduces < 20% latency of Gazelle on non-linear activation layer.
This shows that Delphi beneﬁts less from deeper neural networks.
Compared to Gazelle, our work SAFENet is able to reduce ∼ 59 .
4% online latency, 48.7% total latency.
SAFENet has 50% less online latency and 39.5% less total latency with higher accuracy than Delphi, since SAFENet uses more ﬁnd-grained channel-wise activation approximation.
Compared to Delphi-Fast, SAFENet achieves 4% accuracy improvement with a less inference latency
[Table]
CIFAR-100.
Table 4 shows the results of ResNet-32 evaluated on CIFAR-100.
Gazelle achieves 67 . 9% inference accuracy, and each image inference consists of a 158 -second ofﬂine phase and a 82 -second online phase.
Delphi is faster than Gazelle’s online latency by 67 . 6 seconds with only a 0 .
4% accuracy decrease, but increases the ofﬂine latency by ∼ 30 seconds.
The ofﬂine phase is enlarged because Delphi moves most online HE operations to ofﬂine phase and only reduces few GC operations ofﬂine.
Compared to Gazelle, our work SAFENet is able to reduce both online and ofﬂine latency since we signiﬁcantly reduce the number of GC-based activations; SAFENet reduces online latency by 91 .
2% and ofﬂine latency by 23 .
Compared to Delphi, SAFENet has 50% less online latency and 36.6% less ofﬂine latency.
SAFENet reduces total latency by 46.7% and 37.5% over
Gazelle and Delphi, respectively.
In addition, Delphi suffers from a signiﬁcant accuracy decrease when trying to approximate more activations.
For example, Delphi-Fast approximates one more layer, losing 1.6% accuracy.
Our work SAFENet improves 1.8% inference accuracy and reduces 35.8% latency over Delphi-Fast.
C ONCLUSION
In this paper, we propose SAFENet to enable a Fast, Accurate and Secure neural Network inference service.
SAFENet consists of three techniques including channel-wise activation, multiple-degree polynomial approximation, and mixed-precision approximation ratios.
The channel-wise activation approximation keeps the most useful activation channels and replaces the remaining less useful channels with the various-degree polynomials.
The mixed-precision activation approximation is implemented by assigning various layers with different approximation ratios further increasing the approximation ratio and reducing inference latency.
Our experimental results show SAFENet obtains the state-of-the-art inference latency and performance, decreasing latency by 38% ∼ 61% or improving accuracy by 1 . 8% ∼ 4% over prior techniques.
A A PPENDIX A. C RYPTOGRAPHIC P RIMITIVES .
Homomorphic Encryption (HE).
Homomorphic Encryption (HE) is a cryptosystem that supports computation on ciphertexts x without decryption or private key.
Given public key pk , private key sk , encryption function (cid:15) () , and decryption function σ () , we can deﬁne an homomorphic operation × if there is an operation ⊗ such that σ ( (cid:15) ( x 1 , pk ) ⊗ (cid:15) ( x 2 , pk ) , sk ) =
σ ( (cid:15) ( x 1 × x 2 , pk ) , sk ) , where x 1 and x 2 are sensitive plaintext from data holders, and only data holders have the private key sk .
Secret Sharing (SS) and Garbled Circuit (GC).
Secret Sharing (SS) is usually based on additive sharing private values between the parties.
For example, one variable x can be shared into two parts: (cid:104) x
(cid:105)
A 1 in P 1 and (cid:104) x
(cid:105)
A 2 in P 2 , and variable x can be reconstructed by x = (cid:104) x
(cid:105)
A 1 + (cid:104) x (cid:105)
A 2 .
In previous secure inference schemes by Juvekar et al.
(2018), SS is used to protect the privacy of intermediate results in the hidden layers.
Garbled Circuit (GC) is a cryptographic protocol that enables two parties (Garbler and Evaluator) to jointly compute a function over their private data without learning the other party’s data.
To use GC, the computed function should be represented into a Boolean circuit.
The Garbler ﬁrstly garbles the Boolean circuit and generates the garbled table
The receives the the
Transfer by Juvekar
and evaluates the table to the result.
Previous secure inference schemes by Juvekar et al.
(2018) show that GC is used to process non-linear activation like ReLU function.
Beaver’s multiplicative Triples (BT).
Beaver’s multiplicative Triples proposed by Beaver (1995) can be considered as a secure two-party computation protocol.
Assume two parties P 1 and P 2 have variables x and y , respectively.
BT protocol enables two parties to obtain the secret sharing of product xy without revealing x and y .
More details can be seen in Delphi by Mishra et al.
BT-based polynomial approximation for ReLU is 3 -order magnitude cheaper than GC-based ReLU units on average, so it is used to design approximated secure activation function
. A. P OPULATION B ASED T RAINING (PBT).
PBT is computationally efﬁcient because it adapts parallel scheme and weight sharing during the evolutionary process.
Speciﬁcally, given a pre-trained model, many workers are created and each worker shares the same pre-trained weights and has unique hyper-parameters.
Multiple workers are then independently trained for several iterations and evaluated by the user-speciﬁed score function.
In the exploitation, workers with better scores will keep their parameters, and copy their weights and hyper-parameters to the other workers.
Workers with worse scores will perform exploration to randomly scale their hyper-parameters.
The training, scoring, exploitation and exploration repeat until the score function is convergent.
A. A N COMPARISON OF PBT AND B INARY -T REE PBT(BTPBT).
Figure 6 shows a comparison of PBT and BTPBT for a T -layer network ( T = 4 ).
PBT directly performs a joint search on α [0 : 3] and β [0 : 3] .
The enormous search space and random initializa- tion of α [0 : 3] and β [0 : 3] make PBT difﬁcult to learn useful information in training.
Therefore directly using PBT suffers from slow learning speed and inadequate searching results.
To solve this issue, we use BTPBT to ﬁrstly search one single α 0 for all layers and then search more α iteratively in a binary tree order.
The root node root nd of the binary tree is constructed by assigning a single α 0 to all the 4 layers in the neural network.
One PBT is performed to search the α 0 , given the dataset D and initialized weights W .
The returning result including α 0 , score S , accuracy A and trained weights S is called candidate[0].
After that, all layers in the root nd are equally divide into two parts: left child and right child .
The left child contains the ﬁrst two layers which shares the same α 1 , and the right child includes the last two layers which shares the same α 2 .
Then one single PBT is used to search α 1 and α 2 with the score S , accuracy A and trained weights W .
The returning, intermediate results are called candidate[1].
The search of left child node is much more important since the former layers in the neural network contains more neuron activations than the latter layers.
This BTPBT searching process is repeated until each node has only one single layer.
The layer number of binary tree is equal to log 2 T + 1 , where T is the layer number of neural network.
In this way, the intermediate results about α , β and weights W can be used for the ﬁnal results or the candidates of the further search.
For instance, the intermediate result with the largest score S can be considered as the best candidate BC for the warm-starting initialization for the joint search of α [0 : 3] .
Our BTPBT is able to reduce the training time and improve the secure inference performance over the prior PBT.