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Xiaoman Wang

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4 papers
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4

AAAI Conference 2026 Conference Paper

LeanRAG: Knowledge-Graph-Based Generation with Semantic Aggregation and Hierarchical Retrieval

  • Yaoze Zhang
  • Rong Wu
  • Pinlong Cai
  • Xiaoman Wang
  • Guohang Yan
  • Song Mao
  • Ding Wang
  • Botian Shi

Retrieval-Augmented Generation (RAG) plays a crucial role in grounding Large Language Models by leveraging external knowledge, whereas the effectiveness is often compromised by the retrieval of contextually flawed or incomplete information. To address this, knowledge graph-based RAG methods have evolved towards hierarchical structures, organizing knowledge into multi-level summaries. However, these approaches still suffer from two critical, unaddressed challenges: high-level conceptual summaries exist as disconnected ``semantic islands'', lacking the explicit relations needed for cross-community reasoning; and the retrieval process itself remains structurally unaware, often degenerating into an inefficient flat search that fails to exploit the graph's rich topology. To overcome these limitations, we introduce LeanRAG, a framework that features a deeply collaborative design combining knowledge aggregation and retrieval strategies. LeanRAG first employs a novel semantic aggregation algorithm that forms entity clusters and constructs new explicit relations among aggregation-level summaries, creating a fully navigable semantic network. Then, a bottom-up, structure-guided retrieval strategy anchors queries to the most relevant fine-grained entities and then systematically traverses the graph's semantic pathways to gather concise yet contextually comprehensive evidence sets. The LeanRAG can mitigate the substantial overhead associated with path retrieval on graphs and minimize redundant information retrieval. Extensive experiments on four challenging QA benchmarks with different domains demonstrate that LeanRAG significantly outperforms existing methods in response quality while reducing 46% retrieval redundancy.

AAAI Conference 2025 Conference Paper

A Syntactic Approach to Computing Complete and Sound Abstraction in the Situation Calculus

  • Liangda Fang
  • Xiaoman Wang
  • Zhang Chen
  • Kailun Luo
  • Zhenhe Cui
  • Quanlong Guan

Abstraction is an important and useful concept in the field of artificial intelligence. To the best of our knowledge, there is no syntactic method to compute a sound and complete abstraction from a given low-level basic action theory and a refinement mapping. This paper aims to address this issue. To this end, we first present a variant of situation calculus, namely linear integer situation calculus, which serves as the formalization of high-level basic action theory. We then migrate Banihashemi, De Giacomo, and Lesperance’s abstraction framework to one from linear integer situation calculus to extended situation calculus. Furthermore, we identify a class of Golog programs, namely guarded actions, so as to restrict low-level Golog programs, and impose some restrictions on refinement mappings. Finally, we design a syntactic approach to computing a sound and complete abstraction from a low-level basic action theory and a restricted refinement mapping.

AAMAS Conference 2025 Conference Paper

Automatic Verification of Linear Integer Planning Programs via Forgetting in LIAUPF

  • Liangda Fang
  • Shikang Chen
  • Xiaoman Wang
  • Xiaoyou Lin
  • Chenyi Zhang
  • Qingliang Chen
  • Quanlong Guan
  • Kaile Su

The goal of generalized planning (GP) is to find a generalized solution for a class of planning problems. One of effective means to solve GP is to transform a GP problem into an abstract planning problem, which can be easily solved. Recently, Lin et al. proposed a novel abstract model for GP, namely generalized linear integer numeric planning (GLINP), whose solution is an algorithmic-like structure called a planning program. They also developed an inductive approach to generating planning programs for GLINP. However, it has no theoretical guarantee that the generated planning program holds for infinitely many problem instances. To address this defect, we propose an automatic approach to verify whether the planning program works for infinitely many problem instances in this paper. We translate the planning program into a set of trace axioms finitely represented by linear integer arithmetic with uninterpreted predicate and function symbols (LIAUPF), and reduce the problem to the entailment problem of LIAUPF. Due to the undecidability of entailment problem in LIAUPF, we identify a class of planning programs whose trace axioms can be simplified in linear integer arithmetic (LIA), that is, a decidable fragment of LIAUPF, when reasoning about only the input and output of planning programs. As a result, the correctness verification of this class of programs becomes decidable.

ICRA Conference 2020 Conference Paper

Assembly of randomly placed parts realized by using only one robot arm with a general parallel-jaw gripper

  • Jie Zhao 0010
  • Xiaoman Wang
  • Shengfan Wang
  • Xin Jiang 0001
  • Yun-Hui Liu 0001

In industry assembly lines, parts feeding machines are widely employed as the prologue of the whole procedure. They play the role of sorting the parts randomly placed in bins to the state with specified pose. With the help of the parts feeding machines, the subsequent assembly processes by robot arm can always start from the same condition. Thus it is expected that function of parting feeding machine and the robotic assembly can be integrated with one robot arm. This scheme can provide great flexibility and can also contribute to reduce the cost. The difficulties involved in this scheme lie in the fact that in the part feeding phase, the pose of the part after grasping may be not proper for the subsequent assembly. Sometimes it can not even guarantee a stable grasp. In this paper, we proposed a method to integrate parts feeding and assembly within one robot arm. This proposal utilizes a specially designed gripper tip mounted on the jaws of a two-fingered gripper. With the modified gripper, in-hand manipulation of the grasped object is realized, which can ensure the control of the orientation and offset position of the grasped object. The proposal in this paper is verified by a simulated assembly in which a robot arm completed the assembly process including parts picking from bin and a subsequent peg-in-hole assembly.

v2026.09.13