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Nicholas Ruozzi

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22 papers

2 author rows

AAAI Conference 2026 Conference Paper

A Novel Approach to Evaluating Evaluation Metrics for Multi-Output Structured Prediction

Akshay Vyas
Angelo Pimienta
Nicholas Ruozzi

In multi-output structured prediction tasks, while only one ground truth label may be provided in the training data, multiple equally valid outputs may be possible, making reliable evaluation a persistent challenge. We postulate that human evaluators implicitly use task-specific invariants, e.g., object boundaries in colorized images or named entities in translations, to judge if an output is acceptable. Under this assumption, we introduce a notion of approximate task-specific invariants and use them as diagnostic tools to evaluate a variety of existing metrics for vision and language tasks. We use these task invariants as part of a framework to systematically test metric reliability by encouraging domain-relevant invariants in model outputs via an augmented loss function. In our experiments, we observe that enforcing invariants with an augmented loss yields substantial improvements in popular distributional metrics while more traditional metrics change only marginally. Through this invariants-driven evaluation, we expose where standard metrics fail to detect meaningful differences, and we highlight the conditions under which distributional metrics succeed or still fall short.

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IROS Conference 2025 Conference Paper

Adapting Pre-Trained Vision Models for Novel Instance Detection and Segmentation

Yangxiao Lu
Jishnu Jaykumar P
Yunhui Guo
Nicholas Ruozzi
Yu Xiang 0001

Novel Instance Detection and Segmentation (NIDS) aims at detecting and segmenting novel object instances given a few examples of each instance. We propose a unified, simple, yet effective framework (NIDS-Net) comprising object proposal generation, embedding creation for both instance templates and proposal regions, and embedding matching for instance label assignment. Leveraging recent advancements in large vision methods, we utilize Grounding DINO and Segment Anything Model (SAM) to obtain object proposals with accurate bounding boxes and masks. Central to our approach is the generation of high-quality instance embeddings. We utilize foreground feature averages of patch embeddings from the DINOv2 ViT backbone, followed by refinement through a weight adapter mechanism that we introduce. We show experimentally that our weight adapter can adjust the embeddings locally within their feature space and effectively limit overfitting in the few-shot setting. Furthermore, the weight adapter optimizes weights to enhance the distinctiveness of instance embeddings during similarity computation. This methodology enables a straightforward matching strategy that results in significant performance gains. Our framework surpasses current state-of-the-art methods, demonstrating notable improvements in four detection datasets. In the segmentation tasks on seven core datasets of the BOP challenge, our method outperforms the leading published RGB methods and remains competitive with the best RGB-D method. We have also verified our method using real-world images from a Fetch robot and a RealSense camera. 1

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NeurIPS Conference 2024 Conference Paper

CaptainCook4D: A Dataset for Understanding Errors in Procedural Activities

Rohith Peddi
Shivvrat Arya
Bharath Challa
Likhitha Pallapothula
Akshay Vyas
Bhavya Gouripeddi
Qifan Zhang
Jikai Wang

Following step-by-step procedures is an essential component of various activities carried out by individuals in their daily lives. These procedures serve as a guiding framework that helps to achieve goals efficiently, whether it is assembling furniture or preparing a recipe. However, the complexity and duration of procedural activities inherently increase the likelihood of making errors. Understanding such procedural activities from a sequence of frames is a challenging task that demands an accurate interpretation of visual information and the ability to reason about the structure of the activity. To this end, we collect a new egocentric 4D dataset, CaptainCook4D, comprising 384 recordings (94. 5 hours) of people performing recipes in real kitchen environments. This dataset consists of two distinct types of activity: one in which participants adhere to the provided recipe instructions and another in which they deviate and induce errors. We provide 5. 3K step annotations and 10K fine-grained action annotations and benchmark the dataset for the following tasks: error recognition, multistep localization and procedure learning.

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UAI Conference 2024 Conference Paper

Learning Distributionally Robust Tractable Probabilistic Models in Continuous Domains

Hailiang Dong
James Amato
Vibhav Gogate
Nicholas Ruozzi

Tractable probabilistic models (TPMs) have attracted substantial research interest in recent years, particularly because of their ability to answer various reasoning queries in polynomial time. In this study, we focus on the distributionally robust learning of continuous TPMs and address the challenge of distribution shift at test time by tackling the adversarial risk minimization problem within the framework of distributionally robust learning. Specifically, we demonstrate that the adversarial risk minimization problem can be efficiently addressed when the model permits exact log-likelihood evaluation and efficient learning on weighted data. Our experimental results on several real-world datasets show that our approach achieves significantly higher log-likelihoods on adversarial test sets. Remarkably, we note that the model learned via distributionally robust learning can achieve higher average log-likelihood on the initial uncorrupted test set at times.

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ICRA Conference 2024 Conference Paper

Mean Shift Mask Transformer for Unseen Object Instance Segmentation

Yangxiao Lu
Yuqiao Chen
Nicholas Ruozzi
Yu Xiang 0001

Segmenting unseen objects from images is a critical perception skill that a robot needs to acquire. In robot manipulation, it can facilitate a robot to grasp and manipulate unseen objects. Mean shift clustering is a widely used method for image segmentation tasks. However, the traditional mean shift clustering algorithm is not differentiable, making it difficult to integrate it into an end-to-end neural network training framework. In this work, we propose the Mean Shift Mask Transformer (MSMFormer), a new transformer architecture that simulates the von Mises-Fisher (vMF) mean shift clustering algorithm, allowing for the joint training and inference of both the feature extractor and the clustering. Its central component is a hypersphere attention mechanism, which updates object queries on a hypersphere. To illustrate the effectiveness of our method, we apply MSMFormer to unseen object instance segmentation. Our experiments show that MSMFormer achieves competitive performance compared to state-of-the-art methods for unseen object instance segmentation 1.

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NeurIPS Conference 2022 Conference Paper

Boosting the Performance of Generic Deep Neural Network Frameworks with Log-supermodular CRFs

Hao Xiong
Yangxiao Lu
Nicholas Ruozzi

Historically, conditional random fields (CRFs) were popular tools in a variety of application areas from computer vision to natural language processing, but due to their higher computational cost and weaker practical performance, they have, in many situations, fallen out of favor and been replaced by end-to-end deep neural network (DNN) solutions. More recently, combined DNN-CRF approaches have been considered, but their speed and practical performance still falls short of the best performing pure DNN solutions. In this work, we present a generic combined approach in which a log-supermodular CRF acts as a regularizer to encourage similarity between outputs in a structured prediction task. We show that this combined approach is widely applicable, practical (it incurs only a moderate overhead on top of the base DNN solution) and, in some cases, it can rival carefully engineered pure DNN solutions for the same structured prediction task.

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IJCAI Conference 2020 Conference Paper

General Purpose MRF Learning with Neural Network Potentials

Hao Xiong
Nicholas Ruozzi

Maximum likelihood learning is a well-studied approach for fitting discrete Markov random fields (MRFs) to data. However, general purpose maximum likelihood estimation for fitting MRFs with continuous variables have only been studied in much more limited settings. In this work, we propose a generic MLE estimation procedure for MRFs whose potential functions are modeled by neural networks. To make learning effective in practice, we show how to leverage a highly parallelizable variational inference method that can easily fit into popular machining learning frameworks like TensorFlow. We demonstrate experimentally that our approach is capable of effectively modeling the data distributions of a variety of real data sets and that it can compete effectively with other common methods on multilabel classification and generative modeling tasks.

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IJCAI Conference 2020 Conference Paper

Lifted Hybrid Variational Inference

Yuqiao Chen
Yibo Yang
Sriraam Natarajan
Nicholas Ruozzi

Lifted inference algorithms exploit model symmetry to reduce computational cost in probabilistic inference. However, most existing lifted inference algorithms operate only over discrete domains or continuous domains with restricted potential functions. We investigate two approximate lifted variational approaches that apply to domains with general hybrid potentials, and are expressive enough to capture multi-modality. We demonstrate that the proposed variational methods are highly scalable and can exploit approximate model symmetries even in the presence of a large amount of continuous evidence, outperforming existing message-passing-based approaches in a variety of settings. Additionally, we present a sufficient condition for the Bethe variational approximation to yield a non-trivial estimate over the marginal polytope.

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ICML Conference 2019 Conference Paper

Correlated Variational Auto-Encoders

Da Tang
Dawen Liang
Tony Jebara
Nicholas Ruozzi

Variational Auto-Encoders (VAEs) are capable of learning latent representations for high dimensional data. However, due to the i. i. d. assumption, VAEs only optimize the singleton variational distributions and fail to account for the correlations between data points, which might be crucial for learning latent representations from dataset where a priori we know correlations exist. We propose Correlated Variational Auto-Encoders (CVAEs) that can take the correlation structure into consideration when learning latent representations with VAEs. CVAEs apply a prior based on the correlation structure. To address the intractability introduced by the correlated prior, we develop an approximation by average of a set of tractable lower bounds over all maximal acyclic subgraphs of the undirected correlation graph. Experimental results on matching and link prediction on public benchmark rating datasets and spectral clustering on a synthetic dataset show the effectiveness of the proposed method over baseline algorithms.

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IJCAI Conference 2019 Conference Paper

Lifted Message Passing for Hybrid Probabilistic Inference

Yuqiao Chen
Nicholas Ruozzi
Sriraam Natarajan

Lifted inference algorithms for first-order logic models, e. g. , Markov logic networks (MLNs), have been of significant interest in recent years. Lifted inference methods exploit model symmetries in order to reduce the size of the model and, consequently, the computational cost of inference. In this work, we consider the problem of lifted inference in MLNs with continuous or both discrete and continuous groundings. Existing work on lifting with continuous groundings has mostly been limited to special classes of models, e. g. , Gaussian models, for which variable elimination or message-passing updates can be computed exactly. Here, we develop approximate lifted inference schemes based on particle sampling. We demonstrate empirically that our approximate lifting schemes perform comparably to existing state-of-the-art for models for Gaussian MLNs, while having the flexibility to be applied to models with arbitrary potential functions.

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AAAI Conference 2019 Conference Paper

Marginal Inference in Continuous Markov Random Fields Using Mixtures

Yuanzhen Guo
Hao Xiong
Nicholas Ruozzi

Exact marginal inference in continuous graphical models is computationally challenging outside of a few special cases. Existing work on approximate inference has focused on approximately computing the messages as part of the loopy belief propagation algorithm either via sampling methods or moment matching relaxations. In this work, we present an alternative family of approximations that, instead of approximating the messages, approximates the beliefs in the continuous Bethe free energy using mixture distributions. We show that these types of approximations can be combined with numerical quadrature to yield algorithms with both theoretical guarantees on the quality of the approximation and significantly better practical performance in a variety of applications that are challenging for current state-of-the-art methods.

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UAI Conference 2019 Conference Paper

One-Shot Inference in Markov Random Fields

Hao Xiong
Yuanzhen Guo
Yibo Yang
Nicholas Ruozzi

Statistical inference in Markov random fields (MRFs) is NP-hard in all but the simplest of cases. As a result, many algorithms, particularly in the case of discrete random variables, have been developed to perform approximate inference in practice. However, most of these methods scale poorly, cannot be applied to continuous random variables, or are too slow to be used in situations that call for repeated statistical inference on the same model. In this work, we propose a novel variational inference strategy that is flexible enough to handle both continuous and discrete random variables, efficient enough to be able to handle repeated statistical inferences, and scalable enough, via modern GPUs, to be practical on MRFs with hundreds of thousands of random variables. We prove that our approach overcomes weaknesses of the current approaches and demonstrate the efficacy of our approach on both synthetic models and real-world applications.

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AAAI Conference 2018 Conference Paper

Automatic Parameter Tying: A New Approach for Regularized Parameter Learning in Markov Networks

Li Chou
Pracheta Sahoo
Somdeb Sarkhel
Nicholas Ruozzi
Vibhav Gogate

Parameter tying is a regularization method in which parameters (weights) of a machine learning model are partitioned into groups by leveraging prior knowledge and all parameters in each group are constrained to take the same value. In this paper, we consider the problem of parameter learning in Markov networks and propose a novel approach called automatic parameter tying (APT) that uses automatic instead of a priori and soft instead of hard parameter tying as a regularization method to alleviate overﬁtting. The key idea behind APT is to set up the learning problem as the task of ﬁnding parameters and groupings of parameters such that the likelihood plus a regularization term is maximized. The regularization term penalizes models where parameter values deviate from their group mean parameter value. We propose and use a block coordinate ascent algorithm to solve the optimization task. We analyze the sample complexity of our new learning algorithm and show that it yields optimal parameters with high probability when the groups are well separated. Experimentally, we show that our method improves upon L2 regularization and suggest several pragmatic techniques for good practical performance.

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IJCAI Conference 2017 Conference Paper

Efficient Inference for Untied MLNs

Somdeb Sarkhel
Deepak Venugopal
Nicholas Ruozzi
Vibhav Gogate

We address the problem of scaling up local-search or sampling-based inference in Markov logic networks (MLNs) that have large shared sub-structures but no (or few) tied weights. Such untied MLNs are ubiquitous in practical applications. However, they have very few symmetries, and as a result lifted inference algorithms--the dominant approach for scaling up inference--perform poorly on them. The key idea in our approach is to reduce the hard, time-consuming sub-task in sampling algorithms, computing the sum of weights of features that satisfy a full assignment, to the problem of computing a set of partition functions of graphical models, each defined over the logical variables in a first-order formula. The importance of this reduction is that when the treewidth of all the graphical models is small, it yields an order of magnitude speedup. When the treewidth is large, we propose an over-symmetric approximation and experimentally demonstrate that it is both fast and accurate.

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NeurIPS Conference 2017 Conference Paper

Sparse Approximate Conic Hulls

Greg Van Buskirk
Benjamin Raichel
Nicholas Ruozzi

We consider the problem of computing a restricted nonnegative matrix factorization (NMF) of an m\times n matrix X. Specifically, we seek a factorization X\approx BC, where the k columns of B are a subset of those from X and C\in\Re_{\geq 0}^{k\times n}. Equivalently, given the matrix X, consider the problem of finding a small subset, S, of the columns of X such that the conic hull of S \eps-approximates the conic hull of the columns of X, i. e. , the distance of every column of X to the conic hull of the columns of S should be at most an \eps-fraction of the angular diameter of X. If k is the size of the smallest \eps-approximation, then we produce an O(k/\eps^{2/3}) sized O(\eps^{1/3})-approximation, yielding the first provable, polynomial time \eps-approximation for this class of NMF problems, where also desirably the approximation is independent of n and m. Furthermore, we prove an approximate conic Carathéodory theorem, a general sparsity result, that shows that any column of X can be \eps-approximated with an O(1/\eps^2) sparse combination from S. Our results are facilitated by a reduction to the problem of approximating convex hulls, and we prove that both the convex and conic hull variants are d-sum-hard, resolving an open problem. Finally, we provide experimental results for the convex and conic algorithms on a variety of feature selection tasks.

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AAAI Conference 2016 Conference Paper

On Parameter Tying by Quantization

Li Chou
Somdeb Sarkhel
Nicholas Ruozzi
Vibhav Gogate

The maximum likelihood estimator (MLE) is generally asymptotically consistent but is susceptible to over- ﬁtting. To combat this problem, regularization methods which reduce the variance at the cost of (slightly) increasing the bias are often employed in practice. In this paper, we present an alternative variance reduction (regularization) technique that quantizes the MLE estimates as a post processing step, yielding a smoother model having several tied parameters. We provide and prove error bounds for our new technique and demonstrate experimentally that it often yields models having higher test-set log-likelihood than the ones learned using the MLE. We also propose a new importance sampling algorithm for fast approximate inference in models having several tied parameters. Our experiments show that our new inference algorithm is superior to existing approaches such as Gibbs sampling and MC- SAT on models having tied parameters, learned using our quantization-based approach.

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NeurIPS Conference 2015 Conference Paper

Exactness of Approximate MAP Inference in Continuous MRFs

Nicholas Ruozzi

Computing the MAP assignment in graphical models is generally intractable. As a result, for discrete graphical models, the MAP problem is often approximated using linear programming relaxations. Much research has focused on characterizing when these LP relaxations are tight, and while they are relatively well-understood in the discrete case, only a few results are known for their continuous analog. In this work, we use graph covers to provide necessary and sufficient conditions for continuous MAP relaxations to be tight. We use this characterization to give simple proofs that the relaxation is tight for log-concave decomposable and log-supermodular decomposable models. We conclude by exploring the relationship between these two seemingly distinct classes of functions and providing specific conditions under which the MAP relaxation can and cannot be tight.

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NeurIPS Conference 2014 Conference Paper

Making Pairwise Binary Graphical Models Attractive

Nicholas Ruozzi
Tony Jebara

Computing the partition function (i. e. , the normalizing constant) of a given pairwise binary graphical model is NP-hard in general. As a result, the partition function is typically estimated by approximate inference algorithms such as belief propagation (BP) and tree-reweighted belief propagation (TRBP). The former provides reasonable estimates in practice but has convergence issues. The later has better convergence properties but typically provides poorer estimates. In this work, we propose a novel scheme that has better convergence properties than BP and provably provides better partition function estimates in many instances than TRBP. In particular, given an arbitrary pairwise binary graphical model, we construct a specific ``attractive'' 2-cover. We explore the properties of this special cover and show that it can be used to construct an algorithm with the desired properties.

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UAI Conference 2013 Conference Paper

Beyond Log-Supermodularity: Lower Bounds and the Bethe Partition Function

Nicholas Ruozzi

A recent result has demonstrated that the Bethe partition function always lower bounds the true partition function of binary, logsupermodular graphical models. We demonstrate that these results can be extended to other interesting classes of graphical models that are not necessarily binary or log-supermodular: the ferromagnetic Potts model with a uniform external field and its generalizations and special classes of weighted graph homomorphism problems.

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JMLR Journal 2013 Journal Article

Message-Passing Algorithms for Quadratic Minimization

Nicholas Ruozzi
Sekhar Tatikonda

Gaussian belief propagation (GaBP) is an iterative algorithm for computing the mean (and variances) of a multivariate Gaussian distribution, or equivalently, the minimum of a multivariate positive definite quadratic function. Sufficient conditions, such as walk-summability, that guarantee the convergence and correctness of GaBP are known, but GaBP may fail to converge to the correct solution given an arbitrary positive definite covariance matrix. As was observed by Malioutov et al. (2006), the GaBP algorithm fails to converge if the computation trees produced by the algorithm are not positive definite. In this work, we will show that the failure modes of the GaBP algorithm can be understood via graph covers, and we prove that a parameterized generalization of the min-sum algorithm can be used to ensure that the computation trees remain positive definite whenever the input matrix is positive definite. We demonstrate that the resulting algorithm is closely related to other iterative schemes for quadratic minimization such as the Gauss-Seidel and Jacobi algorithms. Finally, we observe, empirically, that there always exists a choice of parameters such that the above generalization of the GaBP algorithm converges. [abs] [ pdf ][ bib ] &copy JMLR 2013. ( edit, beta )

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NeurIPS Conference 2012 Conference Paper

The Bethe Partition Function of Log-supermodular Graphical Models

Nicholas Ruozzi

Sudderth, Wainwright, and Willsky conjectured that the Bethe approximation corresponding to any fixed point of the belief propagation algorithm over an attractive, pairwise binary graphical model provides a lower bound on the true partition function. In this work, we resolve this conjecture in the affirmative by demonstrating that, for any graphical model with binary variables whose potential functions (not necessarily pairwise) are all log-supermodular, the Bethe partition function always lower bounds the true partition function. The proof of this result follows from a new variant of the “four functions” theorem that may be of independent interest.

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UAI Conference 2010 Conference Paper

Convergent and Correct Message Passing Schemes for Optimization Problems over Graphical Models

Nicholas Ruozzi
Sekhar Tatikonda

The max-product algorithm, which attempts to compute the most probable assignment (MAP) of a given probability distribution, has recently found applications in quadratic minimization and combinatorial optimization. Unfortunately, the max-product algorithm is not guaranteed to converge and, even if it does, is not guaranteed to produce the MAP assignment. In this work, we provide a simple derivation of a new family of message passing algorithms by “splitting” the factors of our graphical model. We prove that, for any objective function that attains its maximum value over its domain, this new family of message passing algorithms always contains a message passing scheme that guarantees correctness upon convergence to a unique estimate. Finally, we adopt an asynchronous message passing schedule and prove that, under mild assumptions, such a schedule guarantees the convergence of our algorithm.

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