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Hao sun

Publications and source records attributed to Hao sun.

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Continuous-Time Quantum Walks based Graph Neural Network

Graph Neural Networks (GNNs) are widely used on graph-structured data, but most suffer from two key weaknesses. First, message passing behaves as a low-pass filter under the homophily assumption, leading to poor performance on heterophilic graphs. Second, stacking layers drives node features toward constants, causing over-smoothing. Existing methods usually address these issues separately, while the few joint solutions rely largely on empirical heuristics, and many over-smoothing remedies sacrifice model expressiveness. We propose \textbf{CTQW-GNN}, a GNN based on Continuous-Time Quantum Walks (CTQW), to address both issues with theoretical justification. Its design exploits two properties of the CTQW propagator $e^{-\mathrm{i}Ht}$. First, it is unitary and has eigenvalues on the unit circle, so no frequency component is damped, counteracting the low-pass bias. Second, unitarity preserves feature norms and prevents the Dirichlet energy from decaying exponentially with depth, thereby mitigating over-smoothing. CTQW-GNN combines three complementary aggregation modules. \textit{CTQW-based Aggregation} evolves node features through the unitary propagator, preserving mid- and high-frequency signals for heterophilic graphs while preventing Dirichlet-energy collapse. \textit{CTQW-Attention Aggregation} constructs a multi-hop neighbor graph from CTQW amplitudes and applies attention over it, enabling access to distant homophilic nodes missed by single-hop aggregation. \textit{LF Aggregation} uses a standard low-pass GAT branch to retain strong performance on homophilic graphs, where pure CTQW aggregation can be suboptimal. We further provide a spectral-gap analysis explaining energy preservation and a Lieb--Robinson-type bound that gives a principled rule for selecting the walk time $t$.

cs.AI

Impact Mitigation for Dynamic Legged Robots with Steel Wire Transmission Using Nonlinear Active Compliance Control

Impact mitigation is crucial to the stable locomotion of legged robots, especially in high-speed dynamic locomotion. This paper presents a leg locomotion system including the nonlinear active compliance control and the active impedance control for the steel wire transmission-based legged robot. The developed control system enables high-speed dynamic locomotion with excellent impact mitigation and leg position tracking performance, where three strategies are applied. a) The feed-forward controller is designed according to the linear motor-leg model with the information of Coulomb friction and viscous friction. b) Steel wire transmission model-based compensation guarantees ideal virtual spring compliance characteristics. c) Nonlinear active compliance control and active impedance control ensure better impact mitigation performance than linear scheme and guarantee position tracking performance. The proposed control system is verified on a real robot named SCIT Dog and the experiment demonstrates the ideal impact mitigation ability in high-speed dynamic locomotion without any passive spring mechanism.

cs.RO