ICML 2024 论文列表

Graph neural networks (GNNs) have exhibited superb power in many graph related tasks. Existing GNNs can be categorized into spatial GNNs and spectral GNNs. The spatial GNNs primarily capture the local information around each node, while the spectral GNNs are able to operate on the frequency signals of the entire graph. However, most, if not all, existing spectral GNNs are faced with two limitations: (1) the polynomial limitation that for most spectral GNNs, the expressive power in the spectral domain is limited to polynomial filters; and (2) the transductive limitation that most spectral GNNs can only be applied to the transductive setting on relatively small-scale graphs. In this paper, we propose a novel spectral graph neural network named SLOG to solve the above two limitations. For the polynomial limitation, SLOG proposes a novel real-valued filter with geometric interpretability, mathematical feasibility and adaptive filtering ability to go beyond polynomial. For the transductive limitation, SLOG combines the subgraph sampling technique in spatial GNNs and the signal processing technique in spectral GNNs together to make itself tailored to the inductive setting on large-scale graphs. Extensive experimental results on 16 datasets demonstrate the superiority of SLOG in inductive homophilic and heterophilic node classification task.

Vision language models (VLMs) have shown impressive capabilities across a variety of tasks, from logical reasoning to visual understanding. This opens the door to richer interaction with the world, for example robotic control. However, VLMs produce only textual outputs, while robotic control and other spatial tasks require outputting continuous coordinates, actions, or trajectories. How can we enable VLMs to handle such settings without fine-tuning on task-specific data? In this paper, we propose a novel visual prompting approach for VLMs that we call Prompting with Iterative Visual Optimization (PIVOT), which casts tasks as iterative visual question answering. In each iteration, the image is annotated with a visual representation of proposals that the VLM can refer to (e.g., candidate robot actions, localizations, or trajectories). The VLM then selects the best ones for the task. These proposals are iteratively refined, allowing the VLM to eventually zero in on the best available answer. We investigate PIVOT on real-world robotic navigation, real-world manipulation from images, instruction following in simulation, and additional spatial inference tasks such as localization. We find, perhaps surprisingly, that our approach enables zero-shot control of robotic systems without any robot training data, navigation in a variety of environments, and other capabilities. Although current performance is far from perfect, our work highlights potentials and limitations of this new regime and shows a promising approach for Internet-Scale VLMs in robotic and spatial reasoning domains.