Haoyu Zhang

h-index31
2papers
3,405citations

2 Papers

7.8AIJun 11, 2025Code
Med-REFL: Medical Reasoning Enhancement via Self-Corrected Fine-grained Reflection

Zongxian Yang, Jiayu Qian, Zegao Peng et al.

Large reasoning models have recently made significant strides in mathematical and code reasoning, yet their success has not transferred smoothly to the medical domain. While multiple factors contribute to this disparity, a critical issue is the inadequate focus on the quality of intermediate reflection steps, which is particularly crucial in high-stakes medical scenarios. To address this challenge, we propose Med-REFL, a \underline{\textbf{Med}}ical \underline{\textbf{R}}easoning \underline{\textbf{E}}nhancement via self-corrected \underline{\textbf{F}}ine-grained ref\underline{\textbf{L}}ection. Our method leverages a tree-of-thought approach to decompose medical questions into fine-grained reasoning paths, quantitatively evaluating each step and its subsequent reflections. These assessments enable automatic construction of direct preference optimization data, reducing reliance on expensive expert annotations while guiding models to identify and correct reasoning errors. Experimental results on the MedQA-USMLE benchmark demonstrate Med-REFL achieves consistent improvements, with average gains up to 4.11\%. Notably, it further boosts the state-of-the-art performance of 7B/8B models by an additional 4.13\%. Furthermore, Med-REFL exhibits strong generalization capabilities and robustness across several challenging medical question-answering datasets. Our work illustrates that prioritizing reflection quality leads to more accurate and trustworthy reasoning in medical AI applications. Checkpoints, code, and data can be found in https://github.com/TianYin123/Med-REFL.

5.2CVJan 19, 2024
360ORB-SLAM: A Visual SLAM System for Panoramic Images with Depth Completion Network

Yichen Chen, Yiqi Pan, Ruyu Liu et al.

To enhance the performance and effect of AR/VR applications and visual assistance and inspection systems, visual simultaneous localization and mapping (vSLAM) is a fundamental task in computer vision and robotics. However, traditional vSLAM systems are limited by the camera's narrow field-of-view, resulting in challenges such as sparse feature distribution and lack of dense depth information. To overcome these limitations, this paper proposes a 360ORB-SLAM system for panoramic images that combines with a depth completion network. The system extracts feature points from the panoramic image, utilizes a panoramic triangulation module to generate sparse depth information, and employs a depth completion network to obtain a dense panoramic depth map. Experimental results on our novel panoramic dataset constructed based on Carla demonstrate that the proposed method achieves superior scale accuracy compared to existing monocular SLAM methods and effectively addresses the challenges of feature association and scale ambiguity. The integration of the depth completion network enhances system stability and mitigates the impact of dynamic elements on SLAM performance.