Borders of Infinity

This novella opens right in the middle of the story, with Miles entering a top security prison on Dagoola IV, while the reader is largely left in the dark as to why he's there and what he's up to. It's pretty clear that Miles is trapped there and cannot escape, but Miles being Miles, he's clearly got a plan and the whole setup works as effective storytelling.

Overall, I think this is just a quintessential Miles story, well told. Even if Miles is wandering around a prison naked, he can charismatically convince others to believe in something. He can get them to organize and set themselves to it happily, even if it's intangible. Miles even says directly here that "men may move mountains, but ideas move men", and that thought is Miles exemplified.