MiNI-Q: A Miniature, Wire-Free Quadruped with Unbounded, Independently Actuated Leg Joints

Physical joint limits are common in legged robots and can restrict workspace, constrain gait design, and increase the risk of hardware damage. This paper introduces MiNI-Q^2, a miniature, wire-free quadruped robot with independently actuated, mechanically unbounded 2-DOF leg joints. We present the mechanical design, kinematic analysis, and experimental validation of the proposed robot. The leg mechanism enables both oscillatory gaits and rotary locomotion while allowing the robot to fold to a minimum height of 2.5 cm. Experimentally, MiNI-Q achieves speeds up to 0.46 m/s and demonstrates low-clearance crawling, stair climbing, inverted locomotion, jumping, and backflipping. The wire-free architecture extends our previous Q8bot design, improving assembly reliability at miniature scale. All mechanical and electrical design files are released open source to support reproducibility and further research.

Worst-Case Symbolic Constraints Analysis and Generalisation with Large Language Models

Large language models (LLMs) have been successfully applied to a variety of coding tasks, including code generation, completion, and repair. However, more complex symbolic reasoning tasks remain largely unexplored by LLMs. This paper investigates the capacity of LLMs to reason about worst-case executions in programs through symbolic constraints analysis, aiming to connect LLMs and symbolic reasoning approaches. Specifically, we define and address the problem of worst-case symbolic constraints analysis as a measure to assess the comprehension of LLMs. We evaluate the performance of existing LLMs on this novel task and further improve their capabilities through symbolic reasoning-guided fine-tuning, grounded in SMT (Satisfiability Modulo Theories) constraint solving and supported by a specially designed dataset of symbolic constraints. Experimental results show that our solver-aligned model, WARP-1.0-3B, consistently surpasses size-matched and even much larger baselines, demonstrating that a 3B LLM can recover the very constraints that pin down an algorithm's worst-case behaviour through reinforcement learning methods. These findings suggest that LLMs are capable of engaging in deeper symbolic reasoning, supporting a closer integration between neural network-based learning and formal methods for rigorous program analysis.

PairAug: What Can Augmented Image-Text Pairs Do for Radiology?

Current vision-language pre-training (VLP) methodologies predominantly depend on paired image-text datasets, a resource that is challenging to acquire in radiology due to privacy considerations and labelling complexities. Data augmentation provides a practical solution to overcome the issue of data scarcity, however, most augmentation methods exhibit a limited focus, prioritising either image or text augmentation exclusively. Acknowledging this limitation, our objective is to devise a framework capable of concurrently augmenting medical image and text data. We design a Pairwise Augmentation (PairAug) approach that contains an Inter-patient Augmentation (InterAug) branch and an Intra-patient Augmentation (IntraAug) branch. Specifically, the InterAug branch of our approach generates radiology images using synthesised yet plausible reports derived from a Large Language Model (LLM). The generated pairs can be considered a collection of new patient cases since they are artificially created and may not exist in the original dataset. In contrast, the IntraAug branch uses newly generated reports to manipulate images. This process allows us to create new paired data for each individual with diverse medical conditions. Our extensive experiments on various downstream tasks covering medical image classification zero-shot and fine-tuning analysis demonstrate that our PairAug, concurrently expanding both image and text data, substantially outperforms image-/text-only expansion baselines and advanced medical VLP baselines. Our code is released at \url{https://github.com/YtongXie/PairAug}.