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图神经网络——分类、进展和趋势(2020)1
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Graph Neural Networks: Taxonomy, Advances and Trends
YU ZHOU
∗
, College of Data Science/Shanxi Spatial Information Network Engineering Technology Research
Center, Taiyuan University of Technology, China
HAIXIA ZHENG
†
, College of Data Science/Shanxi Spatial Information Network Engineering Technology
Research Center, Taiyuan University of Technology, China
XIN HUANG, College of Data Science, Taiyuan University of Technology, China
DENGAO LI, College of Data Science/Shanxi Spatial Information Network Engineering Technology Research
Center, Taiyuan University of Technology, China
JUMIN ZHAO, College of Information and Computer/Shanxi Intelligent Perception Engineering Research
Center, Taiyuan University of Technology, China
Graph neural networks provide a powerful toolkit for embedding real-world graphs into low-dimensional
spaces according to specic tasks. Up to now, there have been several surveys on this topic. However, they
usually lay emphasis on dierent angles so that the readers can not see a panorama of the graph neural
networks. This survey aims to overcome this limitation, and provide a systematic and comprehensive review
on the graph neural networks. First of all, we provide a novel taxonomy for the graph neural networks, and
then refer to up to 250 relevant literatures to show the panorama of the graph neural networks. All of them
are classied into the corresponding categories. In order to drive the graph neural networks into a new stage,
we summarize four future research directions so as to overcome the facing challenges. It is expected that more
and more scholars can understand and exploit the graph neural networks, and use them in their research
community.
CCS Concepts: • Computing methodologies → Neural networks; Learning latent representations.
Additional Key Words and Phrases: Graph Convolutional Neural Network, Graph Recurrent Neural Network,
Graph Pooling Operator, Graph Attention Mechanism, Graph Neural Network
ACM Reference Format:
Yu Zhou, Haixia Zheng, Xin Huang, Dengao Li, and Jumin Zhao. 2020. Graph Neural Networks: Taxonomy,
Advances and Trends. ACM Trans. Intell. Syst. Technol. 00, 0, Article 000 ( 2020), 42 pages. https://doi.org/0000
∗
Corresponding Author.
†
Corresponding Author.
Authors’ addresses: Yu Zhou, zhouyu@tyut.edu.cn, College of Data Science/Shanxi Spatial Information Network Engineering
Technology Research Center, Taiyuan University of Technology, No. 79 Yingze West Street, WanBaiLin District, Taiyuan,
Shanxi, China, 030024; Haixia Zheng, zhenghaixia@tyut.edu.cn, College of Data Science/Shanxi Spatial Information Network
Engineering Technology Research Center, Taiyuan University of Technology, No. 79 Yingze West Street, WanBaiLin
District, Taiyuan, Shanxi, China, 030024; Xin Huang, huangxin@tyut.edu.cn, College of Data Science, Taiyuan University of
Technology, No. 79 Yingze West Street, WanBaiLin District, Taiyuan, Shanxi, China, 030024; Dengao Li, lidengao@tyut.
edu.cn, College of Data Science/Shanxi Spatial Information Network Engineering Technology Research Center, Taiyuan
University of Technology, No. 79 Yingze West Street, WanBaiLin District, Taiyuan, Shanxi, China, 030024; Jumin Zhao,
zhaojumin@tyut.edu.cn, College of Information and Computer/Shanxi Intelligent Perception Engineering Research Center,
Taiyuan University of Technology, No. 79 Yingze West Street, WanBaiLin District, Taiyuan, Shanxi, China, 030024.
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee
provided that copies are not made or distributed for prot or commercial advantage and that copies bear this notice and
the full citation on the rst page. Copyrights for components of this work owned by others than ACM must be honored.
Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires
prior specic permission and/or a fee. Request permissions from permissions@acm.org.
© 2020 Association for Computing Machinery.
2157-6904/2020/0-ART000 $15.00
https://doi.org/0000
ACM Trans. Intell. Syst. Technol., Vol. 00, No. 0, Article 000. Publication date: 2020.
arXiv:2012.08752v2 [cs.LG] 18 Jan 2021
000:2 Yu Zhou, et al.
1 INTRODUCTION
Graph, as a complex data structure, consists of nodes (or vertices) and edges (or links). It can be used
to model lots of complex systems in real world, e.g. social networks, protein-protein interaction
networks, brain networks, road networks, physical interaction networks and knowledge graph etc.
Thus, Analyzing the complex networks becomes an intriguing research frontier. With the rapid
development of deep learning techniques, many scholars employ the deep learning architectures
to tackle the graphs. Graph Neural Networks (GNNs) emerge under these circumstances. Up to
now, the GNNs have evolved into a prevalent and powerful computational framework for tackling
irregular data such as graphs and manifolds.
The GNNs can learn task-specic node/edge/graph representations via hierarchical iterative
operators so that the traditional machine learning methods can be employed to perform graph-
related learning tasks, e.g. node classication, graph classication, link prediction and clustering
etc. Although the GNNs has attained substantial success over the graph-related learning tasks, they
still face great challenges. Firstly, the structural complexity of graphs incurs expensive computa-
tional cost on large graphs. Secondly, perturbing the graph structure and/or initial features incurs
sharp performance decay. Thirdly, the Wesfeiler-Leman (WL) graph isomorphism test impedes
the performance improvement of the GNNs. At last, the blackbox work mechanism of the GNNs
hinders safely deploying them to real-world applications.
In this paper, we generalize the conventional deep architectures to the non-Euclidean domains,
and summarize the architectures, extensions and applications, benchmarks and evaluation pitfalls
and future research directions of the graph neural networks. Up to now, there have been several
surveys on the GNNs. However, they usually discuss the GNN models from dierent angles and with
dierent emphasises. To the best of our knowledge, the rst survey on the GNNs was conducted
by Michael M. Bronstein et al[
124
]. Peng Cui et al[
249
] reviewed dierent kinds of deep learning
models applied to graphs from three aspects: semi-supervised learning methods including graph
convolutional neural networks, unsupervised learning methods including graph auto-encoders, and
recent advancements including graph recurrent neural networks and graph reinforcement learning.
This survey laid emphasis on semi-supervised learning models, i.e. the spatial and spectral graph
convolutional neural networks, yet comparatively less emphasis on the other two aspects. Due to the
space limit, this survey only listed a few of key applications of the GNNs, but ignored the diversity of
the applications. Maosong Sun et al[
81
] provided a detailed review of the spectral and spatial graph
convolutional neural networks from three aspects: graph types, propagation step and training
method, and divided its applications into three scenarios: structural scenarios, non-structural
scenarios and other scenarios. However, this article did not involve the other GNN architectures
such as graph auto-encoders, graph recurrent neural networks and graph generative networks.
Philip S. Yu et al[
250
] conducted a comprehensive survey on the graph neural networks, and
investigated available datasets, open-source implementations and practical applications. However,
they only listed a few of core literatures on each research topic. Davide Bacciu et al[
75
] gives
a gentle introduction to the eld of deep learning for graph data. The goal of this article is to
introduce the main concepts and building blocks to construct neural networks for graph data, and
therefore it falls short of an exposition of recent works on graph neural networks.
It is noted that all of the aforementioned surveys do not concern capability and interpretability of
GNNs, combinations of the probabilistic inference and GNNs, and adversarial attacks on graphs. In
this article, we provide a panorama of GNNs for readers from 4 perspectives: architectures, exten-
sions and applications, benchmarks and evaluations pitfalls, future research directions, as shown in
Fig. 1. For the architectures of GNNs, we investigate the studies on graph convolutional neural net-
works (GCNNs), graph pooling operators, graph attention mechanisms and graph recurrent neural
ACM Trans. Intell. Syst. Technol., Vol. 00, No. 0, Article 000. Publication date: 2020.
Graph Neural Networks: Taxonomy, Advances and Trends 000:3
Graph Neural Networks
Architectures
Benchmarks & Evaluation Pitfalls
Extensions & Applications
Future Research Directions
Graph Convolutional Neural Networks
Graph Recurrent Neural Networks
Capabilities and Interpretability
Deep Graph Representation Learning
Deep Graph Generative Models
Combinations of the PI and GNNs
Adversarial Attacks for the GNNS
Graph Neural Architecture Search
Graph Reinforcement Learning
Applications
Robust GNNs
GNNs Going Beyond WL Test
Interpretable GNNs
Benchmarks
Evaluation Pitfalls
Spectral Graph Convolution Operators
Spatial Graph Convolution Operators
Graph Wavelet Neural Networks
GCNNs on Special Graphs
Highly Scalable GNNs
Graph Poling Operators
Graph Attention Mechanisms
Computer Vision
Natural Language Processing
Complex Network
Combinatorial Optimization
Knowledge Graph
Chemistry and Biology
Physical System
Programming Source Code
Recommender System
Intelligent Traffic
Graph LSTM
GRNNs for Dynamic Graphs
GRNNs based on Vanilla RNNs
Global Graph Pooling Operators
Hierarchical Graph Pooling Operators
Softmax-based Graph Attention
Similarity-based Graph Attention
Spectral Graph Attention
Attention-Guided Walk
Capability
Interpretability
Network Embedding based on GNNs
Conditional Random Field Layer Preserving Similarities between Nodes
Conditional GCNNs for Semi-supervised Node Classification
GCNN-based Gaussian Process Inference
Other GCNN-based Probabilistic Inference
Adversarial Attacks on Graphs
Defense against the Adversarial Attacks
Fig. 1. The architecture of this paper.
networks (GRNNs). The extensions and applications demonstrate some notable research topics on
the GNNs through integrating the above architectures. Specically, this perspective includes the
capabilities and interpretability, deep graph representation learning, deep graph generative models,
combinations of the Probabilistic Inference (PI) and the GNNs, adversarial attacks for GNNs, Graph
Neural Architecture Search and graph reinforcement learning and applications. In summary, our
article provides a complete taxonomy for GNNs, and comprehensively review the current advances
and trends of the GNNs. These are our main dierences from the aforementioned surveys.
Contributions. Our main contributions boils down to the following three-fold aspects.
(1)
We propose a novel taxonomy for the GNNs, which has three levels. The rst includes
architectures, benchmarks and evaluation pitfalls, and applications. The architectures are
classied into 9 categories, the benchmarks and evaluation pitfalls into 2 categories, and the
ACM Trans. Intell. Syst. Technol., Vol. 00, No. 0, Article 000. Publication date: 2020.
000:4 Yu Zhou, et al.
applications into 10 categories. Furthermore, the graph convolutional neural networks, as a
classic GNN architecture, are again classied into 6 categories.
(2)
We provide a comprehensive review of the GNNs. All of the literatures fall into the corre-
sponding categories. It is expected that the readers not only understand the panorama of the
GNNs, but also comprehend the basic principles and various computation modules of the
GNNs through reading this survey.
(3)
We summarize four future research directions for the GNNs according to the current facing
challenges, most of which are not mentioned the other surveys. It is expected that the research
on the GNNs can progress into a new stage by overcoming these challenges.
Roadmap.
The remainder of this paper is organized as follows. First of all, we provide some
basic notations and denitions that will be often used in the following sections. Then, we start
reviewing the GNNs from 4 aspects: architectures in section 3, extensions and applications in
section 4, benchmarks and evaluation pitfalls in section 5 and future research directions in section
6. Finally, we conclude our paper.
2 PRELIMINARIES
In this section, we introduce relevant notations so as to conveniently describe the graph neural
network models. A simple graph can be denoted by
𝐺 = (𝑉, 𝐸)
where
𝑉
and
𝐸
respectively denote
the set of
𝑁
nodes (or vertices) and
𝑀
edges. Without loss of generality, let
𝑉 =
{
𝑣
1
, ··· , 𝑣
𝑁
}
and
𝐸 =
{
𝑒
1
, ··· , 𝑒
𝑀
}
. Each edge
𝑒
𝑗
∈ 𝐸
can be denoted by
𝑒
𝑗
=
𝑣
𝑠
𝑗
, 𝑣
𝑟
𝑗
where
𝑣
𝑠
𝑗
, 𝑣
𝑟
𝑗
∈ 𝑉
. Let
𝐴
𝐺
denote the adjacency matrix of
𝐺
where
𝐴
𝐺
(𝑠, 𝑟 ) =
1 i there is an edge between
𝑣
𝑠
and
𝑣
𝑟
. If
𝐺
is edge-weighted,
𝐴
𝐺
(𝑠, 𝑟 )
equals the weight value of the edge
(
𝑣
𝑠
, 𝑣
𝑟
)
. If
𝐺
is directed,
𝑣
𝑠
𝑗
, 𝑣
𝑟
𝑗
≠
𝑣
𝑟
𝑗
, 𝑣
𝑠
𝑗
and therefore
𝐴
𝐺
is asymmetric. A directed edge
𝑒
𝑗
=
𝑣
𝑠
𝑗
, 𝑣
𝑟
𝑗
is also called
an arch, i.e.
𝑒
𝑗
=
𝑣
𝑠
𝑗
, 𝑣
𝑠
𝑗
. Otherwise
𝑣
𝑠
𝑗
, 𝑣
𝑟
𝑗
=
𝑣
𝑟
𝑗
, 𝑣
𝑠
𝑗
and
𝐴
𝐺
is symmetric. For a node
𝑣
𝑠
∈ 𝑉
, let
𝑁
𝐺
(𝑣
𝑠
)
denote the set of neighbors of
𝑣
𝑠
, and
𝑑
𝐺
(𝑣
𝑠
)
denote the degree of
𝑣
𝑠
. If
𝐺
is
directed, let
𝑁
+
𝐺
(𝑣
𝑠
)
and
𝑁
−
𝐺
(𝑣
𝑠
)
respectively denote the incoming and outgoing neighbors of
𝑣
𝑠
,
and
𝑑
+
𝐺
(𝑣
𝑠
)
and
𝑑
−
𝐺
(𝑣
𝑠
)
respectively denote the incoming and outgoing degree of
𝑣
𝑠
. Given a vector
𝑎 = (𝑎
1
, ··· , 𝑎
𝑁
) ∈ R
𝑁
,
diag(𝑎)
(or
diag(𝑎
1
, ··· , 𝑎
𝑁
)
) denotes a diagonal matrix consisting of the
elements 𝑎
𝑛
, 𝑛 = 1, ··· , 𝑁 .
A vector
𝑥 ∈ R
𝑁
is called a 1-dimensional graph signal on
𝐺
. Similarly,
𝑋 ∈ R
𝑁 ×𝑑
is called a
𝑑-dimensiaonl
graph signal on
𝐺
. In fact,
𝑋
is also called a feature matrix of nodes on
𝐺
. Without
loss of generality, let
𝑋 [𝑗, 𝑘]
denote the
(𝑗, 𝑘)-th
entry of the matrix
𝑋 ∈ R
𝑁 ×𝑑
,
𝑋 [𝑗,
:
] ∈ R
𝑑
denote
the feature vector of the node
𝑣
𝑗
and
𝑋 [
:
, 𝑗]
denote the 1
-dimensional
graph signal on
𝐺
. Let
I
𝑁
denote a
𝑁 ×𝑁
identity matrix. For undirected graphs,
𝐿
𝐺
= 𝐷
𝐺
−𝐴
𝐺
is called the Laplacian matrix
of
𝐺
, where
𝐷
𝐺
[𝑟, 𝑟] =
Í
𝑁
𝑐=1
𝐴
𝐺
[𝑟, 𝑐]
. For a 1-dimensional graph signal
𝑥
, its smoothness
𝑠 (𝑥)
is
dened as
𝑠 (𝑥) = 𝑥
𝑇
𝐿
𝐺
𝑥 =
1
2
𝑁
𝑟,𝑐=1
𝐴
𝐺
(𝑟, 𝑐)
(
𝑥 [𝑟] −𝑥 [𝑐]
)
2
. (1)
The normalization of
𝐿
𝐺
is dened by
𝐿
𝐺
= I
𝑁
− 𝐷
−
1
2
𝐺
𝐴
𝐺
𝐷
−
1
2
𝐺
.
𝐿
𝐺
is a real symmetric semi-
positive denite matrix. So, it has
𝑁
ordered real non-negative eigenvalues
{
𝜆
𝑛
: 𝑛 = 1, ··· , 𝑁
}
and corresponding orthonormal eigenvectors
{
𝑢
𝑛
: 𝑛 = 1, ··· , 𝑁
}
, namely
𝐿
𝐺
= 𝑈 Λ𝑈
𝑇
where
Λ = diag(𝜆
1
, ··· , 𝜆
𝑁
)
and
𝑈 =
(
𝑢
1
, ··· ,𝑢
𝑁
)
denotes a orthonormomal matrix. Without loss of
generality, 0
= 𝜆
1
≤ 𝜆
2
≤ ··· ≤ 𝜆
𝑁
= 𝜆
max
. The eigenvectors
𝑢
𝑛
, 𝑛 =
1
, ··· , 𝑁
are also called the
graph Fourier bases of
𝐺
. Obviously, the graph Fourier basis are also the 1-dimensional graph signal
ACM Trans. Intell. Syst. Technol., Vol. 00, No. 0, Article 000. Publication date: 2020.
Graph Neural Networks: Taxonomy, Advances and Trends 000:5
on 𝐺. The graph Fourier transform[35] for a given graph signal 𝑥 can be denoted by
ˆ
𝑥 ≜ F(𝑥) = 𝑈
𝑇
𝑥. (2)
The inverse graph Fourier transform can be correspondingly denoted by
𝑥 ≜ F
−1
(
ˆ
𝑥) = 𝑈
ˆ
𝑥. (3)
Note that the eigenvalue
𝜆
𝑛
actually measures the smoothness of the graph Fourier mode
𝑢
𝑛
.
Throughout this paper, let
𝜌 (·)
denote an activation function,
⊲⊳
denote the concatenation of at
least two vectors, and
⟨⟩
denote the inner product of two vectors/matrices. We somewhere use the
function Concat(·) to denote the concatenation of two vectors as well.
3 ARCHITECTURES
3.1 Graph Convolutional Neural Networks (GCNNs)
The GCNNs play pivotal roles on tackling the irregular data (e.g. graph and manifold). They are
motivated by the Convolutional Neural Networks (CNNs) to learn hierarchical representations
of irregular data. There have been some eorts to generalize the CNN to graphs [
120
,
125
,
228
].
However, they are usually computationally expensive and cannot capture spectral or spatial features.
Below, we introduce the GCNNs from the next 6 aspects: spectral GCNNs, spatial GCNNs, Graph
wavelet neural networks and GCNNs on special graphs.
Singular Value Decomposition
Input
Aggregation
Activation
Fig. 2. Computational framework of the spectral GCNN.
3.1.1 Spectral Graph Convolution Operators. The spectral graph convolution operator is dened via
the graph Fourier transform. For two graph signals
𝑥
and
𝑦
on
𝐺
, their spectral graph convolution
𝑥 ∗
𝐺
𝑦 is dened by
𝑥 ∗
𝐺
𝑦 = F
−1
(F (𝑥) ⊛ F(𝑦))
= 𝑈
𝑈
𝑇
𝑥 ⊛ 𝑈
𝑇
𝑦
= 𝑈 diag(𝑈
𝑇
𝑦)𝑈
𝑇
𝑥,
(4)
where
⊛
denotes the element-wise Hadamard product [
45
,
85
,
125
]. The spectral graph convolution
can be rewritten as
𝑥 ∗
𝐺
𝑓
𝜃
= 𝑈 𝑓
𝜃
𝑈
𝑇
𝑥,
ACM Trans. Intell. Syst. Technol., Vol. 00, No. 0, Article 000. Publication date: 2020.
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