# Grounding Continuous Representations in Geometry: Equivariant Neural Fields

arXiv: https://arxiv.org/abs/2406.05753 · HTML: https://mlsanity.com/paper/2406.05753/

## Key facts

- Cited by 19 papers in the map (data through 14 Oct 2026).
- Builds on 47 of its 66 references that are in the map.
- First posted on arXiv 9 Jun 2024.

## Builds on (most cited first, 30 of 47)

- [Denoising Diffusion Implicit Models](https://mlsanity.com/paper/2010.02502/) (2020)
- [Scalable Diffusion Models with Transformers](https://mlsanity.com/paper/2212.09748/) (2022)
- [Model-Agnostic Meta-Learning for Fast Adaptation of Deep Networks](https://mlsanity.com/paper/1703.03400/) (2017)
- [Deep Learning Face Attributes in the Wild](https://mlsanity.com/paper/1411.7766/) (2014)
- [ShapeNet: An Information-Rich 3D Model Repository](https://mlsanity.com/paper/1512.03012/) (2015)
- [DeepSDF: Learning Continuous Signed Distance Functions for Shape Representation](https://mlsanity.com/paper/1901.05103/) (2019)
- [FiLM: Visual Reasoning with a General Conditioning Layer](https://mlsanity.com/paper/1709.07871/) (2017)
- [Xception: Deep Learning with Depthwise Separable Convolutions](https://mlsanity.com/paper/1610.02357/) (2016)
- [Implicit Neural Representations with Periodic Activation Functions](https://mlsanity.com/paper/2006.09661/) (2020)
- [Fourier Features Let Networks Learn High Frequency Functions in Low Dimensional Domains](https://mlsanity.com/paper/2006.10739/) (2020)
- [Occupancy Networks: Learning 3D Reconstruction in Function Space](https://mlsanity.com/paper/1812.03828/) (2018)
- [Point Transformer](https://mlsanity.com/paper/2011.00931/) (2020)
- [ImageNet-trained CNNs are biased towards texture; increasing shape bias improves accuracy and robustness](https://mlsanity.com/paper/1811.12231/) (2018)
- [On the Spectral Bias of Neural Networks](https://mlsanity.com/paper/1806.08734/) (2018)
- [Geometric Deep Learning: Grids, Groups, Graphs, Geodesics, and Gauges](https://mlsanity.com/paper/2104.13478/) (2021)
- [E(n) Equivariant Graph Neural Networks](https://mlsanity.com/paper/2102.09844/) (2021)
- [Tensor field networks: Rotation- and translation-equivariant neural networks for 3D point clouds](https://mlsanity.com/paper/1802.08219/) (2018)
- [E(3)-Equivariant Graph Neural Networks for Data-Efficient and Accurate Interatomic Potentials](https://mlsanity.com/paper/2101.03164/) (2021)
- [Equivariant Diffusion for Molecule Generation in 3D](https://mlsanity.com/paper/2203.17003/) (2022)
- [Neural Fields in Visual Computing and Beyond](https://mlsanity.com/paper/2111.11426/) (2021)
- [MACE: Higher Order Equivariant Message Passing Neural Networks for Fast and Accurate Force Fields](https://mlsanity.com/paper/2206.07697/) (2022)
- [3DShape2VecSet: A 3D Shape Representation for Neural Fields and Generative Diffusion Models](https://mlsanity.com/paper/2301.11445/) (2023)
- [General E(2)-Equivariant Steerable CNNs](https://mlsanity.com/paper/1911.08251/) (2019)
- [GemNet: Universal Directional Graph Neural Networks for Molecules](https://mlsanity.com/paper/2106.08903/) (2021)
- [DiffDock: Diffusion Steps, Twists, and Turns for Molecular Docking](https://mlsanity.com/paper/2210.01776/) (2022)
- [Vector Neurons: A General Framework for SO(3)-Equivariant Networks](https://mlsanity.com/paper/2104.12229/) (2021)
- [On the Relationship between Self-Attention and Convolutional Layers](https://mlsanity.com/paper/1911.03584/) (2019)
- [Learned Initializations for Optimizing Coordinate-Based Neural Representations](https://mlsanity.com/paper/2012.02189/) (2020)
- [A General Theory of Equivariant CNNs on Homogeneous Spaces](https://mlsanity.com/paper/1811.02017/) (2018)
- [Geometric and Physical Quantities Improve E(3) Equivariant Message Passing](https://mlsanity.com/paper/2110.02905/) (2021)

## Built on by (most cited first, 19 of 19)

- [Erwin: A Tree-based Hierarchical Transformer for Large-scale Physical Systems](https://mlsanity.com/paper/2502.17019/) (2025)
- [Space-Time Continuous PDE Forecasting using Equivariant Neural Fields](https://mlsanity.com/paper/2406.06660/) (2024)
- [Platonic Transformers: A Solid Choice For Equivariance](https://mlsanity.com/paper/2510.03511/) (2025)
- [Pullback Flow Matching on Data Manifolds](https://mlsanity.com/paper/2410.04543/) (2024)
- [Geometry aware inference of steady state PDEs using Equivariant Neural Fields representations](https://mlsanity.com/paper/2504.18591/) (2025)
- [(Sparse) Attention to the Details: Preserving Spectral Fidelity in ML-based Weather Forecasting Models](https://mlsanity.com/paper/2604.16429/) (2026)
- [Flow Matching on Lie Groups](https://mlsanity.com/paper/2504.00494/) (2025)
- [ARC: Anchored Representation Clouds for High-Resolution INR Classification](https://mlsanity.com/paper/2503.15156/) (2025)
- [A Circular Argument : Does RoPE need to be Equivariant for Vision?](https://mlsanity.com/paper/2511.08368/) (2025)
- [The NGT200 Dataset: Geometric Multi-View Isolated Sign Recognition](https://mlsanity.com/paper/2409.15284/) (2024)
- [Learning Generalizable Shape Completion with SIM(3) Equivariance](https://mlsanity.com/paper/2509.26631/) (2025)
- [Equivariant Eikonal Neural Networks: Grid-Free, Scalable Travel-Time Prediction on Homogeneous Spaces](https://mlsanity.com/paper/2505.16035/) (2025)
- [EqCollide: Equivariant and Collision-Aware Deformable Objects Neural Simulator](https://mlsanity.com/paper/2506.05797/) (2025)
- [Neural Field Tokenizations with Hierarchy and Spatial Locality Priors](https://mlsanity.com/paper/2606.08204/) (2026)
- [Generalized Reduction to the Isotropy for Flexible Equivariant Neural Fields](https://mlsanity.com/paper/2603.08758/) (2026)
- [When Does Equivariance Help? Canonical Alignment in Neural Fluid Surrogates](https://mlsanity.com/paper/2605.18816/) (2026)
- [Courant: a State-Adaptive Perceiver-Based Neural Surrogate with Local Support and Interpretable Field Decomposition](https://mlsanity.com/paper/2605.25115/) (2026)
- [Stable Autoregressive Speech Generation with Low-Frame-Rate High-Dimensional Continuous Tokens](https://mlsanity.com/paper/2607.29363/) (2026)
- [Function-Space Transformer with Adaptive Anchors](https://mlsanity.com/paper/2609.38348/) (2026)

## Abstract (arXiv)

Conditional Neural Fields (CNFs) are increasingly being leveraged as continuous signal representations, by associating each data-sample with a latent variable that conditions a shared backbone Neural Field (NeF) to reconstruct the sample. However, existing CNF architectures face limitations when using this latent downstream in tasks requiring fine-grained geometric reasoning, such as classification and segmentation. We posit that this results from lack of explicit modelling of geometric information (e.g., locality in the signal or the orientation of a feature) in the latent space of CNFs. As such, we propose Equivariant Neural Fields (ENFs), a novel CNF architecture which uses a geometry-informed cross-attention to condition the NeF on a geometric variable--a latent point cloud of features--that enables an equivariant decoding from latent to field. We show that this approach induces a steerability property by which both field and latent are grounded in geometry and amenable to transformation laws: if the field transforms, the latent representation transforms accordingly--and vice versa. Crucially, this equivariance relation ensures that the latent is capable of (1) representing geometric patterns faithfully, allowing for geometric reasoning in latent space, and (2) weight-sharing over similar local patterns, allowing for efficient learning of datasets of fields. We validate these main properties in a range of tasks including classification, segmentation, forecasting, reconstruction and generative modelling, showing clear improvement over baselines with a geometry-free latent space. Code attached to submission https://github.com/Dafidofff/enf-jax. Code for a clean and minimal repo https://github.com/david-knigge/enf-min-jax.