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Jianzhong Yang

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2 papers
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2

AAAI Conference 2026 Conference Paper

MIRAGE: Scaling Test-Time Inference with Parallel Graph-Retrieval-Augmented Reasoning Chains

  • Kaiwen Wei
  • Rui Shan
  • Dongsheng Zou
  • Jianzhong Yang
  • Bi Zhao
  • Junnan Zhu
  • Jiang Zhong

Large reasoning models (LRMs) have shown significant progress in test-time scaling through chain-of-thought prompting. Current approaches like search-o1 integrate retrieval augmented generation (RAG) into multi-step reasoning processes but rely on a single, linear reasoning path while incorporating unstructured textual information in a flat, context-agnostic manner. As a result, these approaches can lead to error accumulation throughout the reasoning chain, which significantly limits its effectiveness in medical question-answering (QA) tasks where both accuracy and traceability are critical requirements. To address these challenges, we propose MIRAGE (Multi-path Inference with Retrieval-Augmented Graph Exploration), a novel test-time scalable reasoning framework that performs dynamic multi-path inference over structured medical knowledge graphs. Specifically, MIRAGE 1) decomposes complex queries into entity-grounded sub-questions, 2) executes parallel inference paths, 3) retrieves evidence adaptively via neighbor expansion and multi-hop traversal, and 4) integrates answers using cross-path verification to resolve contradictions. Experiments on three medical QA benchmarks (GenMedGPT-5k, CMCQA, and ExplainCPE) show that MIRAGE consistently outperforms GPT-4o, Tree-of-Thought variants, and other retrieval-augmented baselines in both automatic and human evaluations. Additionally, MIRAGE improves interpretability by generating explicit reasoning chains that trace each factual claim to concrete paths within the knowledge graph, making it especially suitable for complex medical reasoning scenarios.

ICRA Conference 2021 Conference Paper

Design and soft-landing control of a six-legged mobile repetitive lander for lunar exploration

  • Ke Yin
  • Feng Gao 0011
  • Qiao Sun 0002
  • Jimu Liu
  • Tao Xiao
  • Jianzhong Yang
  • Shuiqing Jiang
  • Xianbao Chen

The autonomous robots consisting of an immovable lander and a rover are widely deployed to explore extraterrestrial planets. However, these robots have two main limitations: (1) the separate design for lander and rover respectively results in heavy mass and big volume of the whole system, which increases the launching cost sharply; (2) the rover’s detection area has to be restricted to the vicinity of the immovable lander. To overcome these problems, we designed a novel six-legged mobile repetitive lander called "HexaMRL", which integrates the functions of both lander and rover, including folding, deploying, repetitive soft-landing, and walking. A hybrid compliant mechanism taking advantages of both active and passive compliances was adopted on its leg. An integrated drive unit (IDU) was utilized to imitate the dynamics of a spring and a damper to absorb the landing impact energy, while the structure remains intact. Moreover, a control method based on state machine for soft-landing on the Moon was proposed. HexaMRL achieved repetitive soft-landing on a 5-DoF lunar gravity testing platform (5-DoF-LGTP) with a vertical landing velocity of 1. 9 m/s and a payload of 140 kg. The drive torque safety margin is improved by 23. 4%p based on the hybrid compliant leg comparing with the standalone active compliant leg.

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