Certain aspects of the present disclosure provide a method for performing machine learning, comprising: determining a plurality of vertices in a neighborhood associated with a mesh including a target vertex; determining a linear transformation configured to parallel transport signals along all edges in the mesh to the target vertex; applying the linear transformation to the plurality of vertices in the neighborhood to form a combined signal at the target vertex; determining a set of basis filters; linearly combining the basis filters using a set of learned parameters to form a gauge equivariant convolution filter, wherein the gauge equivariant convolution filter is constrained to maintain gauge equivariance; applying the gauge equivariant convolution filter to the combined signal to form an intermediate output; and applying a nonlinearity to the intermediate output to form a convolution output.
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