Yuhao Zhou

Jindi Lv, Yuhao Zhou, Zheng Zhu et al.

Chain-of-Thought (CoT) reasoning has significantly advanced the problem-solving capabilities of Large Language Models (LLMs), yet conventional CoT often exhibits internal determinism during decoding, limiting exploration of plausible alternatives. Recent methods attempt to address this by generating soft abstract tokens to enable reasoning in a continuous semantic space. However, we find that such approaches remain constrained by the greedy nature of autoregressive decoding, which fundamentally isolates the model from alternative reasoning possibilities. In this work, we propose Multi-Path Perception Policy Optimization (M3PO), a novel reinforcement learning framework that explicitly injects collective insights into the reasoning process. M3PO leverages parallel policy rollouts as naturally diverse reasoning sources and integrates cross-path interactions into policy updates through a lightweight collaborative mechanism. This design allows each trajectory to refine its reasoning with peer feedback, thereby cultivating more reliable multi-step reasoning patterns. Empirical results show that M3PO achieves state-of-the-art performance on both knowledge- and reasoning-intensive benchmarks. Models trained with M3PO maintain interpretability and inference efficiency, underscoring the promise of multi-path collaborative learning for robust reasoning.

Yuhang Li, Yuhao Zhou, Junbin Huang et al.

Achieving short-distance flight helps improve the efficiency of humanoid robots moving in complex environments (e.g., crossing large obstacles or reaching high places) for rapid emergency missions. This study proposes a design of a flying humanoid robot named Jet-HR2. The robot has 10 joints driven by brushless motors and harmonic drives for locomotion. To overcome the challenge of the stable-attitude takeoff in small thrust-to-weight conditions, the robot was designed based on the concept of thrust vectoring. The propulsion system consists of four ducted fans, that is, two fixed on the waist of the robot and the other two mounted on the feet, for thrust vector control. The thrust vector is controlled by adjusting the attitude of the foot during the flight. A simplified model and control strategies are proposed to solve the problem of attitude instability caused by mass errors and joint position errors during takeoff. The experimental results show that the robot's spin and dive behaviors during takeoff were effectively suppressed by controlling the thrust vector of the ducted fan on the foot. The robot successfully achieved takeoff at a thrust-to-weight ratio of 1.17 (17 kg / 20 kg) and maintained a stable attitude, reaching a takeoff height of over 1000 mm.

Yuhao Zhou, Ruijie Wang, Yi-Cheng Zhang et al.

While PageRank has been extensively used to rank sport tournament participants (teams or individuals), its superiority over simpler ranking methods has been never clearly demonstrated. We use sports results from 18 major leagues to calibrate a state-of-art model for synthetic sports results. Model data are then used to assess the ranking performance of PageRank in a controlled setting. We find that PageRank outperforms the benchmark ranking by the number of wins only when a small fraction of all games have been played. Increased randomness in the data, such as intrinsic randomness of outcomes or advantage of home teams, further reduces the range of PageRank's superiority. We propose a new PageRank variant which outperforms PageRank in all evaluated settings, yet shares its sensitivity to increased randomness in the data. Our main findings are confirmed by evaluating the ranking algorithms on real data. Our work demonstrates the danger of using novel metrics and algorithms without considering their limits of applicability.