Author name cluster

Feifei Qian

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4 papers

2 author rows

ICRA Conference 2025 Conference Paper

A Bio-Inspired Sand-Rolling Robot: Effect of Body Shape on Sand Rolling Performance

Xingjue Liao
Wenhao Liu
Hao Wu
Feifei Qian

The capability of effectively moving on complex terrains such as sand and gravel can empower our robots to robustly operate in outdoor environments, and assist with critical tasks such as environment monitoring, search-and-rescue, and supply delivery. Inspired by the Mount Lyell salamander's ability to curl its body into a loop and effectively roll down hill slopes, in this study we develop a sand-rolling robot and investigate how its locomotion performance is governed by the shape of its body. We experimentally tested three different body shapes: Hexagon, Quadrilateral, and Triangle. We found that Hexagon and Triangle can achieve a faster rolling speed on sand, but exhibited more frequent failures of getting stuck. Analysis of the interaction between robot and sand revealed the failure mechanism: the deformation of the sand produced a local “sand incline” underneath robot contact segments, increasing the effective region of supporting polygon (ERSP) and preventing the robot from shifting its center of mass (CoM) outside the ERSP to produce sustainable rolling. Based on this mechanism, a highly-simplified model successfully captured the critical body pitch for each rolling shape to produce sustained rolling on sand, and informed design adaptations that mitigated the locomotion failures and improved robot speed by more than 200%. Our results provide insights into how locomotors can utilize different morphological features to achieve robust rolling motion across deformable substrates.

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IJCAI Conference 2025 Conference Paper

AKBR: Learning Adaptive Kernel-based Representations for Graph Classification

Lu Bai
Feifei Qian
Lixin Cui
Ming Li
Hangyuan Du
Yue Wang
Edwin Hancock

In this paper, we propose a new model to learn Adaptive Kernel-based Representations (AKBR) for graph classification. Unlike state-of-the-art R-convolution graph kernels that are defined by merely counting any pair of isomorphic substructures between graphs and cannot provide an end-to-end learning mechanism for the classifier, the proposed AKBR approach aims to define an end-to-end representation learning model to construct an adaptive kernel matrix for graphs. To this end, we commence by leveraging a novel feature-channel attention mechanism to capture the interdependencies between different substructure invariants of original graphs. The proposed AKBR model can thus effectively identify the structural importance of different substructures, and compute the R-convolution kernel between pairwise graphs associated with the more significant substructures specified by their structural attentions. Furthermore, the proposed AKBR model employs all sample graphs as the prototype graphs, naturally providing an end-to-end learning architecture between the kernel computation as well as the classifier. Experimental results show that the proposed AKBR model outperforms existing state-of-the-art graph kernels and deep learning methods on standard graph benchmarks.

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AAAI Conference 2025 Conference Paper

DHAKR: Learning Deep Hierarchical Attention-Based Kernelized Representations for Graph Classification

Feifei Qian
Lu Bai
Lixin Cui
Ming Li
Ziyu Lyu
Hangyuan Du
Edwin Hancock

Graph-based representations are powerful tools for analyzing structured data. In this paper, we propose a novel model to learn Deep Hierarchical Attention-based Kernelized Representations (DHAKR) for graph classification. To this end, we commence by learning an assignment matrix to hierarchically map the substructure invariants into a set of composite invariants, resulting in hierarchical kernelized representations for graphs. Moreover, we introduce the feature-channel attention mechanism to capture the interdependencies between different substructure invariants that will be converged into the composite invariants, addressing the shortcoming of discarding the importance of different substructures arising in most existing R-convolution graph kernels. We show that the proposed DHAKR model can adaptively compute the kernel-based similarity between graphs, identifying the common structural patterns over all graphs. Experiments demonstrate the effectiveness of the proposed DHAKR model.

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IJCAI Conference 2025 Conference Paper

Exploring the Over-smoothing Problem of Graph Neural Networks for Graph Classification: An Entropy-based Viewpoint

Feifei Qian
Lu Bai
Lixin Cui
Ming Li
Hangyuan Du
Yue Wang
Edwin Hancock

The over-smoothing has emerged as a major challenge in the development of Graph Neural Networks (GNNs). While existing state-of-the-art methods effectively mitigate the diminishing distance between nodes and improve the performance of node classification, they tend to be elusive for graph-level tasks. This paper introduces a novel entropy-based perspective to explore the over-smoothing problem, simultaneously enhancing the distinguishability of non-isomorphic graphs. We provide a theoretical analysis of the relationship between the smoothness and the entropy for graphs, highlighting how the over-smoothing in high-entropic regions negatively impact the graph classification performance. To tackle this issue, we propose a simple yet effective method to Sample and Discretize node features in high-Entropic regions (SDE), aiming to preserve the critical and complicated structural information. Moreover, we introduce a new evaluation metric to assess the over-smoothing for graph-level tasks, focusing on node distributions. Experimental results demonstrate that the proposed SDE method significantly outperforms existing state-of-the-art methods, establishing a new benchmark in the field of GNNs.

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