Recurrent GraphNeural NetworkswithSet-BasedAggregation

Recurrent Graph Neural Networks (RGNNs) extend standard GNNs by iterating message-passing until some stopping condition is met. Various RGNN models have been proposed in the literature. In this paper, we study three such models: converging RGNNs, where all vertex representations must stabilise; output-converging RGNNs, where only the output classifications must stabilise; and halting RGNNs, where a per-vertex halting classifier determines when to stop. We establish expressiveness relationships between these models: over undirected graphs, converging RGNNs are equally expressive as graded-bisimulation-invariant halting RGNNs, while output-converging RGNNs are at least as expressive. Combined with prior results on halting RGNNs, this shows that, relative to the classifiers expressible in monadic second-order logic (MSO), converging RGNNs express exactly the graded modal $μ$-calculus ($μ$GML), and output-converging RGNNs express at least $μ$GML. These results hold even when restricting to ReLU networks with sum aggregation. The main technical challenge is simulating halting RGNNs by converging ones: without a global halting classifier, vertices may locally decide to halt at different times, causing desynchronisation. We develop a "traffic-light" protocol that enables vertices to coordinate despite this asynchrony. Our results answer an open question from Bollen et al. (2025) and show that the RGNN model of Pflueger et al. (2024) retains full $μ$GML expressiveness even when convergence is guaranteed.

Recurrent Neural Networks (RNNs) can learn to predict Signal Temporal Logic (STL) verdicts online from partial trajectories, but deploying them as runtime monitors in safety-critical systems demands more than predictive accuracy. Standard RNN architectures offer no structural guarantee that outputs degrade gracefully under sensor degradation; a dropped input can silently flip a verdict from safe to unsafe. We introduce the Recurrent Differentiable Ternary Logic Gate Network (R-DTLGN), a recurrent architecture that operates over Kleene's three-valued logic $\{-1, 0, +1\}$, where $0$ explicitly represents unknown. The R-DTLGN trains through continuous polynomial surrogates and hardens to a discrete ternary logic circuit at inference. We analyze the hardened circuit through two gate vocabularies derived from two orderings on the ternary domain: numerically monotone gates ensure stable recurrent dynamics, while information-monotone gates, when present, guarantee principled abstention (unknown inputs never produce wrong outputs) and monotonicity in input certainty (more information can only improve the verdict). We show that the recurrent connections required by bounded STL operators use exclusively AND and OR, which belong to both vocabularies, linking the monitoring task to the architecture's guarantees. A realizability bound derived from the STL formula's temporal operators directly sizes the network's hidden state, replacing hyperparameter search with a formula-driven specification. We evaluate on STL specifications over D4RL PointMaze navigation data, testing prediction accuracy, degradation under predicate dropout, and the accuracy-versus-safety tradeoff between two label construction pipelines. The R-DTLGN is, to our knowledge, the first recurrent architecture that couples learned temporal prediction with formal degradation guarantees rooted in three-valued logic.

We study the expressive power of message-passing aggregate-combine-readout graph neural networks (ACR-GNNs). Particularly, we focus on the first-order (FO) properties expressible by this formalism. While a tight logical characterisation remains a difficult open question, we make two contributions towards answering it. First, we show that sum aggregation and readout suffice for GNNs to capture FO properties that cannot be expressed in the logic C2 on both directed and undirected graphs. This strengthens known results by Hauke and Wał{\k e}ga (2026) where aggregation and readout functions are specially crafted for the task. Second, we identify two natural ways of restoring characterisability (with regard to C2) for ACR-GNNs. One option is to limit local aggregation (without imposing restrictions on global readout), whilst the second is to run ACR-GNNs over graphs of bounded degree (but unbounded size). In both cases, the FO properties captured by GNNs are exactly those definable by a formula in graded modal logic with global counting modalities. Our results thus establish an innate lower- and upper-bound in terms of how far (fragments of) C2 can be taken to characterise GNNs, and imply that is indeed the unbounded interaction of aggregation and readout that pushes the logical expressive power of GNNs above C2.