等变神经网络（equivariant neural network）相关论文

1. Group Equivariant Convolutional Networks Taco S. Cohen, Max Welling ICML 2016 paper Note: first paper; discrete group;

2. Steerable CNNs Taco S. Cohen, Max Welling ICLR 2017 paper

3. Harmonic Networks: Deep Translation and Rotation Equivariance Daniel E. Worrall, Stephan J. Garbin, Daniyar Turmukhambetov, Gabriel J. Brostow CVPR 2017 paper

4. Spherical CNNs Taco S. Cohen, Mario Geiger, Jonas Koehler, Max Welling ICLR 2018 best paper paper Note: use generalized FFT to speed up convolution on $S^2$ and $SO(3)$

5. Clebsch–Gordan Nets: a Fully Fourier Space Spherical Convolutional Neural Network Risi Kondor, Zhen Lin, Shubhendu Trivedi NeurIPS 2018 paper Note: perform equivariant nonlinearity in Fourier space;

6. General E(2)-Equivariant Steerable CNNs Maurice Weiler, Gabriele Cesa NeurIPS 2019 paper Note: nice benchmark on different reprsentations

7. Learning Steerable Filters for Rotation Equivariant CNNs Maurice Weiler, Fred A. Hamprecht, Martin Storath CVPR 2018 paper Note: group convolutions, kernels parameterized in circular harmonic basis (steerable filters);

8. Learning SO(3) Equivariant Representations with Spherical CNNs Carlos Esteves, Christine Allen-Blanchette, Ameesh Makadia, Kostas Daniilidis ECCV 2018 paper Note: SO(3) equivariance; zonal filter

9. Polar Transformer Networks Carlos Esteves, Christine Allen-Blanchette, Xiaowei Zhou, Kostas Daniilidis ICLR 2018 paper

10. 3D Steerable CNNs: Learning Rotationally Equivariant Features in Volumetric Data Maurice Weiler, Mario Geiger, Max Welling, Wouter Boomsma, Taco Cohen NeurIPS 2018 paper Note: SE(3) equivariance; characterize the basis of steerable kernel

11. Tensor field networks: Rotation- and translation-equivariant neural networks for 3D point clouds Nathaniel Thomas, Tess Smidt, Steven Kearnes, Lusann Yang, Li Li, Kai Kohlhoff, Patrick Riley paper Note: SE(3) equivariance for point clouds

12. Equivariant Multi-View Networks Carlos Esteves, Yinshuang Xu, Christine Allen-Blanchette, Kostas Daniilidis ICCV 2019 paper

13. Gauge Equivariant Convolutional Networks and the Icosahedral CNN Taco S. Cohen, Maurice Weiler, Berkay Kicanaoglu, Max Welling ICML 2019 paper, talk Note: gauge equivariance on general manifold

14. Cormorant: Covariant Molecular Neural Networks Brandon Anderson, Truong-Son Hy, Risi Kondor NeurIPS 2019 paper

15. Deep Scale-spaces: Equivariance Over Scale Daniel Worrall, Max Welling NeurIPS 2019 paper

16. Scale-Equivariant Steerable Networks Ivan Sosnovik, Michał Szmaja, Arnold Smeulders ICLR 2020 paper

17. B-Spline CNNs on Lie Groups Erik J Bekkers ICLR 2020 paper

18. SE(3)-Transformers: 3D Roto-Translation Equivariant Attention Networks Fabian B. Fuchs, Daniel E. Worrall, Volker Fischer, Max Welling NeurIPS 2020 paper, blog Note: TFN + equivariant self-attention; improved spherical harmonics computation

19. Gauge Equivariant Mesh CNNs: Anisotropic convolutions on geometric graphs Pim de Haan, Maurice Weiler, Taco Cohen, Max Welling ICLR 2021 paper Note: anisotropic gauge equivariant kernels + message passing by parallel transporting features over mesh edges

20. Lorentz Group Equivariant Neural Network for Particle Physics Alexander Bogatskiy, Brandon Anderson, Jan T. Offermann, Marwah Roussi, David W. Miller, Risi Kondor ICML 2020 paper Note: SO(1, 3) equivariance

21. CNNs on Surfaces using Rotation-Equivariant Features Ruben Wiersma, Elmar Eisemann, Klaus Hildebrandt SIGGRAPH 2020 paper, code

22. Generalizing Convolutional Neural Networks for Equivariance to Lie Groups on Arbitrary Continuous Data Marc Finzi, Samuel Stanton, Pavel Izmailov, Andrew Gordon Wilson ICML 2020 paper Note: fairly generic architecture; use Monte Carlo sampling to achieve equivariance in expectation;

23. Spin-Weighted Spherical CNNs Carlos Esteves, Ameesh Makadia, Kostas Daniilidis NeurIPS 2020 paper Note: anisotropic filter for vector field on sphere

24. Learning Invariances in Neural Networks Gregory Benton, Marc Finzi, Pavel Izmailov, Andrew Gordon Wilson NeurIPS 2020 paper Note: very interesting approch; enfore "soft" invariance via learning over both model parameters and distributions over augmentations

25. LieTransformer: Equivariant self-attention for Lie Groups Michael Hutchinson, Charline Le Lan, Sheheryar Zaidi, Emilien Dupont, Yee Whye Teh, Hyunjik Kim paper Note: equivariant self attention to arbitrary Lie groups and their discrete subgroups

26. Co-Attentive Equivariant Neural Networks: Focusing Equivariance On Transformations Co-Occurring In Data David W. Romero, Mark Hoogendoorn ICLR 2020 paper

27. Attentive Group Equivariant Convolutional Networks David W. Romero, Erik J. Bekkers, Jakub M. Tomczak, Mark Hoogendoorn ICML 2020 paper

28. Wavelet Networks: Scale Equivariant Learning From Raw Waveforms David W. Romero, Erik J. Bekkers, Jakub M. Tomczak, Mark Hoogendoorn paper

29. Group Equivariant Stand-Alone Self-Attention For Vision David W. Romero, Jean-Baptiste Cordonnier ICLR 2021 paper

30. Incorporating Symmetry into Deep Dynamics Models for Improved Generalization Rui Wang, Robin Walters, Rose Yu ICLR 2021 paper

31. MDP Homomorphic Networks: Group Symmetries in Reinforcement Learning Elise van der Pol, Daniel E. Worrall, Herke van Hoof, Frans A. Oliehoek, Max Welling NeurIPS 2020 paper

32. Isometric Transformation Invariant and Equivariant Graph Convolutional Networks Masanobu Horie, Naoki Morita, Toshiaki Hishinuma, Yu Ihara, Naoto Mitsume ICLR 2021 paper

33. E(n) Equivariant Graph Neural Networks Victor Garcia Satorras, Emiel Hoogeboom, Max Welling ICML 2021 paper Note: a simple alternative that achieves E(n) equivariance

34. Vector Neurons: A General Framework for SO(3)-Equivariant Networks Congyue Deng, Or Litany, Yueqi Duan, Adrien Poulenard, Andrea Tagliasacchi, Leonidas Guibas paper Note: a simple MLP for type-1 features

35. Equivariant message passing for the prediction of tensorial properties and molecular spectra Kristof T. Schütt, Oliver T. Unke, Michael Gastegger ICML 2021 paper

36. Field Convolutions For Surface CNNs Thomas W. Mitchel, Vladimir G. Kim, Michael Kazhdan ICCV 2021 (Oral) paper

37. Scalars are universal: Equivariant machine learning, structured like classical physics Soledad Villar, David W.Hogg, Kate Storey-Fisher, Weichi Yao, Ben Blum-Smith NeruIPS 2021 paper

38. GemNet: Universal Directional Graph Neural Networks for Molecules Johannes Klicpera, Florian Becker, Stephan Günnemann NeurIPS 2021 paper

39. Automatic Symmetry Discovery with Lie Algebra Convolutional Network Nima Dehmamy, Robin Walters, Yanchen Liu, Dashun Wang, Rose Yu NeurIPS 2021 paper

40. Geometric and Physical Quantities improve E(3) Equivariant Message Passing Johannes Brandstetter and Rob Hesselink and Elise van der Pol and Erik J Bekkers and Max Welling ICLR 2022 (spotlight) paper, code

41. Frame Averaging for Invariant and Equivariant Network Design Omri Puny, Matan Atzmon, Heli Ben-Hamu, Ishan Misra, Aditya Grover, Edward J. Smith, Yaron Lipman paper ICLR 2022

42. Learning Local Equivariant Representations for Large-Scale Atomistic Dynamics Albert Musaelian, Simon Batzner, Anders Johansson, Lixin Sun, Cameron J. Owen, Mordechai Kornbluth, Boris Kozinsky paper

43. Möbius Convolutions for Spherical CNNs Thomas W. Mitchel, Noam Aigerman, Vladimir G. Kim, Michael Kazhdan SIGGRAPH 2022 paper (Note: Equivariance to the action of SL(2, C) on the sphere. To our knowledge this is the first conformally equivariant convolutional surface network)

44. DeltaConv: Anisotropic Operators for Geometric Deep Learning on Point Clouds Ruben Wiersma, Ahmad Nasikun, Elmar Eisemann, Klaus Hildebrandt SIGGRAPH 2022 paper, code Rotation equivariance by using differential operators.

Theory

1. On the Generalization of Equivariance and Convolution in Neural Networks to the Action of Compact Groups Risi Kondor, Shubhendu Trivedi ICML 2018 paper Note: convolution is all you need (for scalar fields)

2. A General Theory of Equivariant CNNs on Homogeneous Spaces Taco Cohen, Mario Geiger, Maurice Weiler NeurIPS 2019 paper Note: convolution is all you need (for general fields)

3. Equivariance Through Parameter-Sharing Siamak Ravanbakhsh, Jeff Schneider, Barnabas Poczos ICML 2017 paper

4. Universal approximations of invariant maps by neural networks Dmitry Yarotsky paper

5. A Wigner-Eckart Theorem for Group Equivariant Convolution Kernels Leon Lang, Maurice Weiler ICLR 2021 paper Note: steerable kernel spaces are fully understood and parameterized in terms of 1) generalized reduced matrix elements, 2) Clebsch-Gordan coefficients, and 3) harmonic basis functions on homogeneous spaces.

6. On the Universality of Rotation Equivariant Point Cloud Networks Nadav Dym, Haggai Maron ICLR 2021 paper, Note: universality for TFN and se3-transformer

7. Universal Equivariant Multilayer Perceptrons Siamak Ravanbakhsh paper

8. Provably Strict Generalisation Benefit for Equivariant Models Bryn Elesedy, Sheheryar Zaidi ICML 2021 paper

9. Implicit Bias of Linear Equivariant Networks Hannah Lawrence, Kristian Georgiev, Andrew Dienes, Bobak T. Kiani ICML 2022 paper

10. On the Expressive Power of Geometric Graph Neural Networks Chaitanya K. Joshi, Cristian Bodnar, Simon V. Mathis, Taco Cohen, Pietro Liò ICML 2023 paper

Equivariant Density Estimation and Sampling

1. Equivariant Flows: Exact Likelihood Generative Learning for Symmetric Densities Jonas Köhler, Leon Klein, Frank Noé ICML 2020 paper Note: general framework for constructing equivariant normalizing flows on euclidean spaces. Instantiation for particle systems/point clouds = simultanoues SE(3) and permutation equivariance.

2. Equivariant Hamiltonian Flows Danilo Jimenez Rezende, Sébastien Racanière, Irina Higgins, Peter Toth NeurIPS 2019 ML4Phys workshop paper Note: general framework for constructing equivariant normalizing flows in phase space utilizing Hamiltonian dynamics. Instantiation for SE(2) equivariance.

3. Sampling using SU(N) gauge equivariant flows Denis Boyda, Gurtej Kanwar, Sébastien Racanière, Danilo Jimenez Rezende, Michael S. Albergo, Kyle Cranmer, Daniel C. Hackett, Phiala E. Shanahan paper Note: normalizing flows for lattice gauge theory. Instantiation for SU(2)/SU(3) equivariance.

4. Exchangeable neural ode for set modeling Yang Li, Haidong Yi, Christopher M. Bender, Siyuan Shan, Junier B. Oliva NeurIPS 2020 paper Note: framework for permutation equivariant flows for set data. Instantiation for permutation equivariance.

5. Equivariant Normalizing Flows for Point Processes and Sets Marin Biloš, Stephan Günnemann NeurIPS 2020 paper Note: framework for permutation equivariant flows for set data. Instantiation for permutation equivariance.

6. The Convolution Exponential and Generalized Sylvester Flows Emiel Hoogeboom, Victor Garcia Satorras, Jakub M. Tomczak, Max Welling NeurIPS 2020 paper Note: invertible convolution operators. Instantiation for permutation equivariance.

7. Targeted free energy estimation via learned mappings Peter Wirnsberger, Andrew J. Ballard, George Papamakarios, Stuart Abercrombie, Sébastien Racanière, Alexander Pritzel, Danilo Jimenez Rezende, Charles Blundell J Chem Phys. 2020 Oct 14;153(14):144112. paper Note: normalizing flows for particle systems on a torus. Instantiation for permutation equivariance.

8. Temperature-steerable flows Manuel Dibak, Leon Klein, Frank Noé NeurIPS 2020 ML4Phys workshops paper Note: normalizing flows in phase space with equivariance with respect to changes in temperature.

Application

1. Trajectory Prediction using Equivariant Continuous Convolution Robin Walters, Jinxi Li, Rose Yu ICLR 2021 paper

2. SE(3)-Equivariant Graph Neural Networks for Data-Efficient and Accurate Interatomic Potentials Simon Batzner, Tess E. Smidt, Lixin Sun, Jonathan P. Mailoa, Mordechai Kornbluth, Nicola Molinari, Boris Kozinsky paper

3. Finding Symmetry Breaking Order Parameters with Euclidean Neural Networks Tess E. Smidt, Mario Geiger, Benjamin Kurt Miller paper

4. Group Equivariant Generative Adversarial Networks Neel Dey, Antong Chen, Soheil Ghafurian ICLR 2021 paper

5. Ab-Initio Solution of the Many-Electron Schrödinger Equation with Deep Neural Networks David Pfau, James S. Spencer, Alexander G. de G. Matthews, W. M. C. Foulkes paper

6. Symmetry-Aware Actor-Critic for 3D Molecular Design Gregor N. C. Simm, Robert Pinsler, Gábor Csányi, José Miguel Hernández-Lobato ICLR 2021 paper

7. Roto-translation equivariant convolutional networks: Application to histopathology image analysis Maxime W. Lafarge, Erik J. Bekkers, Josien P.W. Pluim, Remco Duits, Mitko Veta MedIA paper

8. Scale Equivariance Improves Siamese Tracking Ivan Sosnovik*, Artem Moskalev*, Arnold Smeulders WACV 2021 paper

9. 3D G-CNNs for Pulmonary Nodule Detection Marysia Winkels, Taco S. Cohen paper International Conference on Medical Imaging with Deep Learning (MIDL), 2018.

10. Roto-translation covariant convolutional networks for medical image analysis Erik J. Bekkers, Maxime W. Lafarge, Mitko Veta, Koen A.J. Eppenhof, Josien P.W. Pluim, Remco Duits MICCAI 2018 Young Scientist Award paper

11. Equivariant Spherical Deconvolution: Learning Sparse Orientation Distribution Functions from Spherical Data Axel Elaldi*, Neel Dey*, Heejong Kim, Guido Gerig, Information Processing in Medical Imaging (IPMI) 2021 paper

12. Rotation-Equivariant Deep Learning for Diffusion MRI Philip Müller, Vladimir Golkov, Valentina Tomassini, Daniel Cremers paper

13. Equivariant geometric learning for digital rock physics: estimating formation factor and effective permeability tensors from Morse graph Chen Cai, Nikolaos Vlassis, Lucas Magee, Ran Ma, Zeyu Xiong, Bahador Bahmani, Teng-Fong Wong, Yusu Wang, WaiChing Sun paper Note: equivariant nets + Morse graph for permeability tensor prediction

14. Direct prediction of phonon density of states with Euclidean neural network Zhantao Chen, Nina Andrejevic, Tess Smidt, Zhiwei Ding, Yen-Ting Chi, Quynh T. Nguyen, Ahmet Alatas, Jing Kong, Mingda Li, Advanced Science (2021) paper arXiv

15. SE(3)-equivariant prediction of molecular wavefunctions and electronic densities Oliver T. Unke, Mihail Bogojeski, Michael Gastegger, Mario Geiger, Tess Smidt, Klaus-Robert Müller paper

16. Independent SE(3)-Equivariant Models for End-to-End Rigid Protein Docking Octavian-Eugen Ganea, Xinyuan Huang, Charlotte Bunne, Yatao Bian, Regina Barzilay, Tommi Jaakkola, Andreas Krause, under review, 2022 paper

17. Roto-translated Local Coordinate Frames For Interacting Dynamical Systems Miltiadis Kofinas, Naveen Shankar Nagaraja, Efstratios Gavves NeurIPS 2021 paper

18. MACE: Higher Order Equivariant Message Passing Neural Networks for Fast and Accurate Force Fields Ilyes Batatia, Dávid Péter Kovács, Gregor N. C. Simm, Christoph Ortner, Gábor Csányi, under review, 2022 paper, code

19. Equivariant Q Learning in Spatial Action Spaces Dian Wang, Robin Walters, Xupeng Zhu, Robert Platt, CoRL 2021 paper

20. SO(2)-Equivariant Reinforcement Learning Dian Wang, Robin Walters, Robert Platt, ICLR 2022 paper

21. Sample Efficient Grasp Learning Using Equivariant Models Xupeng Zhu, Dian Wang, Ondrej Biza, Guanang Su, Robin Walters, Robert Platt, RSS 2022 paper

22. Equivariant Transporter Network Haojie Huang, Dian Wang, Robin Walters, Robert Platt, RSS 2022 paper

23. On-Robot Learning With Equivariant Models Dian Wang, Mingxi Jia, Xupeng Zhu, Robin Walters, Robert Platt, CoRL 2022 paper

24. Edge Grasp Network: Graph-Based SE(3)-invariant Approach to Grasp Detection Haojie Huang, Dian Wang, Xupeng Zhu, Robin Walters, Robert Platt, Under Review paper

25. SEIL: Simulation-augmented Equivariant Imitation Learning Mingxi Jia, Dian Wang, Guanang Su, David Klee, Xupeng Zhu, Robin Walters, Robert Platt, Under Review paper

26. The Surprising Effectiveness of Equivariant Models in Domains with Latent Symmetry Dian Wang, Jung Yeon Park, Neel Sortur, Lawson L.S. Wong, Robin Walters, Robert Platt, Under Review paper

Permutation Equivariance

https://www.mitchel.computer/doc/thesis.pdf There are many paper on this topics. I only added very few of them.

1. PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation Charles R. Qi, Hao Su, Kaichun Mo, Leonidas J. Guibas CVPR 2017 paper

2. Deep Sets Manzil Zaheer, Satwik Kottur, Siamak Ravanbakhsh, Barnabas Poczos, Ruslan Salakhutdinov, Alexander Smola NeurIPS 2017 paper

3. Invariant and Equivariant Graph Networks Haggai Maron, Heli Ben-Hamu, Nadav Shamir, Yaron Lipman ICLR 2019 paper

4. Provably Powerful Graph Networks Haggai Maron, Heli Ben-Hamu, Hadar Serviansky, Yaron Lipman NeurIPS 2019 paper

5. Universal Invariant and Equivariant Graph Neural Networks Nicolas Keriven, Gabriel Peyré NeurIPS 2019 paper

6. On Learning Sets of Symmetric Elements Haggai Maron, Or Litany, Gal Chechik, Ethan Fetaya ICML 2020 best paper

7. On the Universality of Invariant Networks Haggai Maron, Ethan Fetaya, Nimrod Segol, Yaron Lipman paper

8. Transformers Generalize DeepSets and Can be Extended to Graphs and Hypergraphs Jinwoo Kim, Saeyoon Oh, Seunghoon Hong paper

Talk and Tutorial

IAS: Graph Nets: The Next Generation - Max Welling - YouTube

Equivariance and Data Augmentation workshop: many nice talks

IPAM: Tess Smidt: "Euclidean Neural Networks for Emulating Ab Initio Calculations and Generating Atomi..." - YouTube

IPAM: E(3) Equivariant Neural Network Tutorial 

IPAM: Risi Kondor: "Fourier space neural networks" 

NeurIPS 2020 tutorial: Equivariant Networks

Yaron Lipman - Deep Learning of Irregular and Geometric Data - YouTube

Math-ML: Erik J Bekkers: Group Equivariant CNNs beyond Roto-Translations: B-Spline CNNs on Lie Groups

Kostas Daniilidis: Geometry-aware deep learning: A brief history of equivariant representations and recent results

Andrew White:  Deep Learning for Molecules and Materials.

Erik Bekkers: An Introduction to Group Equivariant Deep Learning A course offered at UvA

Michael M. Bronstein, Joan Bruna, Taco Cohen, Petar Veličković: Geometric Deep Learning Course

Background

I am by no means an expert in this field. Here are books and articles suggest by Taco Cohen when asked references to learn group theory and representation theory.

1. Carter, Visual Group Theory Note: very basic intro to group theory

2. Theoretical Aspects of Group Equivariant Neural Networks Carlos Esteves Note: covers all the math you need for equivariant nets in a fairly compact and accessible manner.

3. Serre, Linear Representations of Finite Groups Note: classic text on representations of finite groups. First few chapters are relevant to equivariant nets.

4. G B Folland. A Course in Abstract Harmonic Analysis Note: covers representations of locally compact groups; induced representations.

5. David Gurarie. Symmetries and Laplacians: Introduction to Harmonic Analysis, Group Representations and Applications.

6. Mark Hamilton. Mathematical Gauge Theory: With Applications to the Standard Model of Particle Physics Note: covers fiber bundles, useful for understanding homogeneous G-CNNs and Gauge CNNs.

Theses / Dissertations

1. Taco Cohen, Equivariant Convolutional Networks, PhD Thesis, University of Amsterdam, 2021 [pdf] (Note: Part II contains a lot of new material, not published before)

2. Extending Convolution Through Spatially Adaptive Alignment Thomas W. Mitchel, PhD Thesis, Johns Hopkins University, 2022 pdf Presents a novel, unified theoretical framework for transformation-equivariant convolutions on arbitrary homogenous spaces and 2D Riemannian manifolds. Can handle high-dimensional, non-compact transformation groups.

TO READ

There are many paper I haven't read carefully yet.

1. Making Convolutional Networks Shift-Invariant Again Richard Zhang ICML 2019 paper

2. Probabilistic symmetries and invariant neural networks Benjamin Bloem-Reddy, Yee Whye Teh JMLR paper

3. On Representing (Anti)Symmetric Functions Marcus Hutter paper

4. PDE-based Group Equivariant Convolutional Neural Networks Bart M.N. Smets, Jim Portegies, Erik J. Bekkers, Remco Duits paper