Is there a ΣΣ-protocol with negligible soundness?
An interactive proof (protocol) for directed graph isomorphism
was constructed by extending Schnorr protocol,
and from polynomial graph representation.
Prover picks distinct finite field elements for each vertex of both graphs,
like $\{1, 2, \dots k\}$,
such that corresponding vertices share the same finite-field-label $w$.
Polynomial graph representation is introduced: a product over all edges,
a bivariate polynomial linear in both labels of the connected vertices:
\begin{equation}
f(x, y | \Gamma) =
\prod_{ \forall (e = \vec{H T}) \in Edges(\Gamma)}
(1 + x w_H + y w_T)
\end{equation}
The decision goes from, for any pair of isomorphic graphs as assignment exists resulting in the same "characteristic function" representing both graphs,
and no such assignment for non-isomorphism case.
Now the label permutation is the witness,
a set of secrets to commit to and run the well-known Schnorr protocol.
We focus on Schnorr responses, treating them as linear univariate polynomials
before the variable is chosen at random as a Schnorr challenge
(indexed by vertices):
\begin{equation}
W_v(z) = z w_v + \alpha_v
\end{equation}
Informally, we replace secrets with responses.
That is, consider a function composition:
\begin{equation}
F(x, y, z | \Gamma) =
\prod_{ \forall (e = \vec{H T}) \in Edges(\Gamma)}
(z + x W_H(z) + y W_T(z))
\end{equation}
Observe the top-degree coefficient of $F(z,..)$
is the graph characteristic polynomial $f()$.
That is, it does not depend on random coins $\alpha$
from the first step of Schnorr.
It follows, Verifier can test graph characteristic polynomial equality
at a random point $(x,y)$ chosen as the first challenge,
only having Schnorr responses calculated at some random $z$
(the regular Schnorr challenge)
and homomorphic commitments (Pedersen)
to all the lower-degree coefficients of $F(z,)$ sent by the Prover.
Soundness follow from Schwartz-Zippel lemma.
Negligible soundness in a single round, as requested.
In modern parlance, this might be called a polynomial interactive oracle proof.
Presented at ISCOPT 2007 and Central European Conference on Cryptography 2009,
accessible through WebArchive/Wayback.
IACR preprint 2008/363 for graph hamiltonicity using this technique.
Graph coloring in MFCS (EATCS) 2012.