Communication-Efficient Digital-Twin Coordination for Heterogeneous LLM Embodied Agents over Computing Power Networks

Embodied agent teams powered by heterogeneous large language models (LLMs) are being widely deployed in physical artificial intelligence such as smart factories, warehouses, and service robotics. To enable collaboration among such an agent team, efficient coordination mechanisms that operate reliably under limited network resources are required. However, existing heterogeneous LLM-agent coordination frameworks that rely on multi-round natural-language-based conversations introduce three coupled challenges. First, inter-agent dialogue incurs communication overhead that grows rapidly with team size. Second, the quality of coordination is constrained by the heterogeneous capabilities of the agent team's LLMs. Third, agents may suffer from action delays due to iterative negotiation. To address these challenges, we propose LDT-Coord, a networked coordination framework built upon a lightweight digital twin (DT). Specifically, each agent independently selects its intended action and reports both the action decision and a structured temporal constraint over shared resources to the DT server, thereby decoupling coordination performance from natural-language reasoning ability. Then, DT executes a training-free, rule-based orchestrator algorithm to resolve cross-agent conflicts and returns coordination instructions to prevent such conflicts. To further reduce communication overhead, we formulate agent reporting control as a constrained partially observable Markov decision process (C-POMDP) and solve it with the PPO-Lagrangian algorithm. Simulation results show that LDT-Coord achieves a task success rate comparable to conventional coordination methods while reducing communication overhead by more than 70x and maintaining robustness under LLM heterogeneity.

Priority-Aware Learning-Unlearning Correction for Dynamic Decentralized LoRA Fine-Tuning

As large language models (LLMs) are increasingly deployed at the network edge to provide pervasive generative AI services, decentralized federated learning (DFL) provides a vital mechanism for privacy-preserving, domain-specific fine-tuning through peer-to-peer exchanges of parameter-efficient updates. However, the dynamic nature of practical decentralized edge networks, where devices may dynamically join or leave the collaborative training process, requires the system to continuously adapt to new data while selectively removing prior contributions. This correction process remains a significant bottleneck, as individual device updates become deeply entangled within the global fine-tuned parameters. To address this challenge, we propose a priority-aware learning-unlearning correction framework based on orthogonal LoRA that can enhance the knowledge evaluation through topology adjustment. Specifically, we first design an orthogonal LoRA mechanism that yields post-training contribution coordinates, enabling history-free projection addition and deletion in response to membership changes. We then analyze the correction bottleneck and develop a priority-aware policy that selects among topology refinement, local correction, proximal damping, and synchronization scheduling according to the dominant residual term. A resource allocation algorithm is further developed to allocate limited communication across layer groups, prioritizing the primary bottlenecks within per-round wireless constraints. Experiments demonstrate that the proposed framework achieves robust post-event correction for both device join and leave events and validate that different residual regimes necessitate distinct correction actions.

A Query-Driven Communication-Efficient Digital Twins Design for Autonomous Driving

Digital twins (DTs) have become a potential technology to perform risk-free simulation of physical entities for deterministic and high-reliability services in diverse scenarios such as autonomous driving and low-altitude economy. In the autonomous driving scenario, traditional DT methods that rely solely on vehicle's real-time state synchronization, however, might lead to unacceptable computing and communication consumption for construction of high-fidelity DT with redundant data. To address this issue, we first propose a query-driven DT architecture to enable the DT to actively request the desired environment data from vehicles based on its simulation result. Then, we formulate an optimization problem whose goal is to minimize autonomous driving position error while accounting for DT fidelity and communication constraints. We also design a cross-time-step progressive query mechanism to further improve communication efficiency. The simulation results show that our proposed method achieves a 24% reduction in planning position error compared to traditional methods, while reducing communication overhead by 40%.

Wireless Federated Multi-Task LLM Fine-Tuning via Sparse-and-Orthogonal LoRA

Decentralized federated learning (DFL) based on low-rank adaptation (LoRA) enables mobile devices with multi-task datasets to collaboratively fine-tune a large language model (LLM) by exchanging locally updated parameters with a subset of neighboring devices via wireless connections for knowledge integration.However, directly aggregating parameters fine-tuned on heterogeneous datasets induces three primary issues across the DFL life-cycle: (i) \textit{catastrophic knowledge forgetting during fine-tuning process}, arising from conflicting update directions caused by data heterogeneity; (ii) \textit{inefficient communication and convergence during model aggregation process}, due to bandwidth-intensive redundant model transmissions; and (iii) \textit{multi-task knowledge interference during inference process}, resulting from incompatible knowledge representations coexistence during inference. To address these issues in a fully decentralized scenario, we first propose a sparse-and-orthogonal LoRA that ensures orthogonality between model updates to eliminate direction conflicts during fine-tuning.Then, we analyze how device connection topology affects multi-task performance, prompting a cluster-based topology design during aggregation.Finally, we propose an implicit mixture of experts (MoE) mechanism to avoid the coexistence of incompatible knowledge during inference. Simulation results demonstrate that the proposed approach effectively reduces communication resource consumption by up to $73\%$ and enhances average performance by $5\%$ compared with the traditional LoRA method.

A Secure and Private Distributed Bayesian Federated Learning Design

Distributed Federated Learning (DFL) enables decentralized model training across large-scale systems without a central parameter server. However, DFL faces three critical challenges: privacy leakage from honest-but-curious neighbors, slow convergence due to the lack of central coordination, and vulnerability to Byzantine adversaries aiming to degrade model accuracy. To address these issues, we propose a novel DFL framework that integrates Byzantine robustness, privacy preservation, and convergence acceleration. Within this framework, each device trains a local model using a Bayesian approach and independently selects an optimal subset of neighbors for posterior exchange. We formulate this neighbor selection as an optimization problem to minimize the global loss function under security and privacy constraints. Solving this problem is challenging because devices only possess partial network information, and the complex coupling between topology, security, and convergence remains unclear. To bridge this gap, we first analytically characterize the trade-offs between dynamic connectivity, Byzantine detection, privacy levels, and convergence speed. Leveraging these insights, we develop a fully distributed Graph Neural Network (GNN)-based Reinforcement Learning (RL) algorithm. This approach enables devices to make autonomous connection decisions based on local observations. Simulation results demonstrate that our method achieves superior robustness and efficiency with significantly lower overhead compared to traditional security and privacy schemes.

Attention-based UNet enabled Lightweight Image Semantic Communication System over Internet of Things

This paper studies the problem of the lightweight image semantic communication system that is deployed on Internet of Things (IoT) devices. In the considered system model, devices must use semantic communication techniques to support user behavior recognition in ultimate video service with high data transmission efficiency. However, it is computationally expensive for IoT devices to deploy semantic codecs due to the complex calculation processes of deep learning (DL) based codec training and inference. To make it affordable for IoT devices to deploy semantic communication systems, we propose an attention-based UNet enabled lightweight image semantic communication (LSSC) system, which achieves low computational complexity and small model size. In particular, we first let the LSSC system train the codec at the edge server to reduce the training computation load on IoT devices. Then, we introduce the convolutional block attention module (CBAM) to extract the image semantic features and decrease the number of downsampling layers thus reducing the floating-point operations (FLOPs). Finally, we experimentally adjust the structure of the codec and find out the optimal number of downsampling layers. Simulation results show that the proposed LSSC system can reduce the semantic codec FLOPs by 14%, and reduce the model size by 55%, with a sacrifice of 3% accuracy, compared to the baseline. Moreover, the proposed scheme can achieve a higher transmission accuracy than the traditional communication scheme in the low channel signal-to-noise (SNR) region.