arXiv subjects

Jinke Ren

Publications and source records attributed to Jinke Ren.

At least 19 recordsLinked to original sources

arXiv2026

RoboMemory: A Brain-inspired Multi-memory Agentic Framework for Interactive Environmental Learning in Physical Embodied Systems

Long-horizon embodied tasks require agents to learn, reason, and generalize robustly across complex real-world environments. However, existing approaches often struggle with partial observability, fragmented spatial reasoning, and inefficient integration of heterogeneous memories, limiting their capacity for long-horizon adaptation. To address this, we introduce RoboMemory, a brain-inspired framework that unifies Temporal, Spatial, Semantic, and Episodic memory for efficient long-horizon planning and interactive learning. Its core innovations are a comprehensive memory system designed for embodied tasks, and a dynamic spatial knowledge graph for scalable, consistent memory updates. Extensive experiments on EmbodiedBench show that RoboMemory improves the average success rate of Qwen2.5-VL-72B-Ins by 26.5 percentage points and achieves performance comparable to strong closed-source VLM agents. Real-world trials further suggest RoboMemory's potential for interactive environmental learning by reusing accumulated experience across repeated task attempts. These results demonstrate RoboMemory as a scalable memory-augmented framework for embodied agents, improving long-horizon planning and cumulative learning in complex interactive environments.

cs.RO↗

arXiv2026

Fluid Antennas Enabled UAV Communication Systems: Fundamentals, Challenges, and Future Directions

Low-altitude wireless networks (LAWNs) require uncrewed aerial vehicle (UAV) communication systems to adapt to large-scale propagation changes and fast local channel fluctuations. Fluid antennas (FAs) provide an additional degree of freedom (DoF) by reconfiguring antenna positions within a compact aperture. This article investigates FA-enabled UAV communication systems from the perspectives of fundamentals, design challenges, and future research directions. We first introduce a dual-mobility perspective, in which UAV trajectory planning provides macro-mobility for large-scale air-to-ground geometry adaptation, and FA position reconfiguration provides micro-mobility for fine-grained local channel adaptation. We then identify key design challenges arising from the high computational complexity and information uncertainty in the joint optimization of UAV trajectory, FA positions, and beamforming under mobility, energy, hardware, and security constraints. To address these challenges, we present a hybrid offline-online optimization framework, where prior information such as environment maps, user mobility patterns, and statistical channel state information (CSI) supports long-term planning, while real-time information such as instantaneous CSI and UAV state enables fast online correction. A case study on FA-enabled UAV-assisted vehicular communications demonstrates the effectiveness of the proposed framework. Finally, we discuss future directions of FA-enabled UAV communication in integrated sensing and communication (ISAC), secure communication, mobile edge computing (MEC), and aerial relaying.

eess.SP↗

arXiv2026

SemVideoSte: Agentic AI for Cross-Modal Semantic Video Steganography Communication

We propose an agentic artificial intelligence (AI)-driven cross-modal semantic video steganography communication (SemVideoSte) scheme for secure cross-modal information transmission. Agentic AI interprets the service context to determine a semantically matched public prompt and coordinates video generation, message embedding, semantic transmission, and message recovery process. A multi-mask mechanism combines variational autoencoder (VAE) reconstruction robustness, semantic transmission robustness, and latent separability to select reliable embedding positions. Meanwhile, a private digital token controls the random seed and guidance offset to construct positive and negative terminal latent states, enabling coverless message embedding during the final diffusion sampling step. Simulation results on open-source datasets demonstrate that SemVideoSte achieves high embedding capacity, reliable message recovery, and strong semantic consistency under different channel conditions. In addition, eavesdroppers without the correct digital token cannot reliably recover the secret message, and the generated stego videos effectively resist the steganalysis detection. We further establish a prototype testbed to verify the practical feasibility of SemVideoSte.

cs.CR↗

arXiv2026

LLM-Guided Dual-Stage Latency Optimization for Closed-Loop 6G V2I Digital Twins

Wireless Digital Twins are emerging as a key enabler for predictive network control in 6G Vehicle-to-Infrastructure (V2I) systems. However, closed-loop V2I DTs face two dual-stage communication bottlenecks arising from model parameter exchange for V2I DT reconstruction and multi-service V2I traffic delivery after each reconstruction. This paper proposes a closed-loop dual-stage End-to-End (E2E) latency optimization framework that integrates Compressed Personalized Federated Learning with a unified Large-Language-Model-guided Multi-Agent Reinforcement Learning approach. A CPFL-enabled decision-oriented V2I DT is first constructed by jointly predicting Path Loss (PL) and Quality-of-Experience (QoE)-oriented Key Performance Indicators (KPIs). Then the framework comprises two temporally coupled but latency-wise distinct optimization stages: Stage I minimizes the joint Uplink (UL) and Downlink (DL) E2E transmission latency of compressed shared backbone's parameters, and Stage II minimizes the service-aware E2E latency of multi-service V2I traffic. As the two stages share aligned agent roles and action space, we develop a unified Semantic-Aware Guidance-Enhanced Multi-Agent Proximal Policy Optimization framework, in which the LLM acts as a training-time semantic planner that provides high-level traffic splitting and power allocation guidance to reduce inefficient exploration, while the MARL agents execute feasible low-level actions. Simulation results demonstrate that the proposed framework enables efficient V2I DT reconstruction and significantly reduces both E2E latency for DT reconstruction and multi-service V2I traffic. The proposed SAGE-MAPPO supports cross-stage policy reuse by sequentially solving the two stages within each DT update cycle, which accelerates convergence relative to the existing baselines and facilitates timely DT updates in dynamic V2I scenarios.

cs.NI↗

arXiv2026

Logit-Aware MIMO AirComp for Distributed Mixture-of-Experts LLM Inference over Wireless Edge Networks

Distributed mixture-of-experts (MoE) inference is a promising architecture for deploying large language models (LLMs) at wireless edge networks because sparse experts can be placed across coordinated base stations (BSs), while the anchor node and user equipment (UE) can offload LLM inference tasks to BSs. The communication bottleneck is the MoE aggregation, where the anchor BS must recover a weighted sum of selected expert outputs before each decoding step. Over-the-air computation (AirComp) is well matched to this operation because the wireless multiple-access channel naturally superposes simultaneous transmissions. However, conventional AirComp minimizes communication distortion, whereas MoE aggregation errors have unequal impact on LLM outputs. We propose a logit-aware MIMO AirComp framework that estimates local logit sensitivity as block-level weights and jointly optimizes receive combiners and BS precoders under per-BS power constraints. We also develop an alternating algorithm that protects decoding decisions from aggregation perturbations. Using OpenCompass, we evaluate Qwen3-30B-A3B-Instruct-2507-FP8 on GSM8K and ARC-Challenge. At 30 dB aggregation SNR, perturbed Qwen3 retains 99.3% of clean GSM8K accuracy and 94.8% of clean ARC-Challenge accuracy. In a direct ARC-Challenge closed-loop audit over 295 examples, SW-AirComp achieves 43.73% accuracy at 30 dB and 26.78% at 20 dB, outperforming unweighted, matched-filter, and zero-forcing AirComp. In the wireless simulator, SW-AirComp reduces decision-relevant aggregation distortion; at 20 dB, its final weighted-sum mean-squared error is 53.5% lower than unweighted AirComp under the same channels, samples, and sensitivity weights. Logit-RMSE and logit-gap diagnostics further show that the gain comes from reducing output-logit perturbation and lowering the risk of top-token changes.

cs.IT↗

arXiv2026

ReFPO: Reflow Regularization for Flow Matching Policy Gradients

We present Reflow-regularized Flow Matching Policy Gradients (ReFPO), a simple online RL method that adds explicit Reflow regularization to FPO for efficient flow-based control. We uncover a key structural property: the gradient updates in Flow Matching Policy Gradients (FPO) can be interpreted as an implicit advantage-weighted Reflow process, providing a new geometric perspective on flow-based policy gradients. Building on this insight, ReFPO introduces an explicit geometric regularizer that can be implemented with a single line of code change without incurring additional computational overhead or auxiliary distillation stages. By synergizing advantage-guided updates with path rectification, our method reduces CFM proxy-ratio spikes, stabilizes PPO-style training, and enables high-fidelity one-step inference that often matches or exceeds multi-step performance. We experimentally demonstrate that ReFPO improves average performance and discretization robustness across GridWorld, MuJoCo Playground, and high-dimensional Humanoid Control tasks, providing a scalable and stable approach for generative policies in complex physical simulations.

cs.RO↗

arXiv2026

UAV-Enabled Fluid Antenna Systems for Multi-Target Wireless Sensing over LAWCNs

Fluid antenna system (FAS) is emerging as a key technology for enhancing spatial flexibility and sensing accuracy in future wireless systems. This paper investigates an unmanned aerial vehicle (UAV)-enabled FAS for multi-target wireless sensing in low-altitude wireless consumer networks (LAWCNs) for achieving the low-altitude economy (LAE) missions. We formulate an optimization problem aimed at minimizing the average Cramér-Rao bound (CRB) for multiple target estimations. To tackle this non-convex problem, an efficient alternating optimization (AO) algorithm is proposed, which jointly optimizes the UAV trajectory, the antenna position of the transmit fluid antennas (FAs) and the receive FAs, and the transmit beamforming at the UAV. Simulation results demonstrate significant performance improvements in estimation accuracy and sensing reliability compared to conventional schemes, e.g., the fixed position antenna scheme. The proposed system achieves enhanced sensing performance through adaptive trajectory design and beamforming, alongside effective interference suppression via the flexible FAS antenna repositioning, underscoring its practical potential for precision sensing in the UAV-enabled LAWCNs.

cs.IT↗

arXiv2026

Annotation-Free Indoor Radio Mapping via Physics-Informed Trajectory Inference

Constructing indoor radio maps traditionally requires extensive site surveys with precise user-location labels, making the calibration process costly and time-consuming. Existing calibration-reduction methods either depend on partial location annotations or exploit inertial measurement units (IMUs) to provide relative motion cues; however, IMU-assisted solutions are constrained by hardware availability, device-level access restrictions, and accumulated sensor drift. In this paper, we study a location-label-free indoor radio mapping problem under known access-point deployment geometry and a known walkable spatial domain. We propose a physics-informed trajectory inference framework that uses only Channel State Information (CSI), without relying on user-location labels or IMU measurements. The key idea is to recover the latent spatial coordinates of CSI measurements by exploiting the local spatial continuity of multipath propagation. To this end, we construct a Power-Angle-Delay Profile (PADP) feature distance from MIMO-OFDM CSI and show that, within a local neighborhood and under quasi-static multipath conditions, this distance provides a physically meaningful proxy for small spatial displacements. We then incorporate the PADP-based continuity constraint into a spatially regularized Bayesian inference model for joint trajectory recovery and propagation-parameter estimation. Experiments on a real-world industrial CSI dataset demonstrate that the proposed framework achieves an average localization error of 0.88 m and a relative beam map construction error of 6.68%, improving upon representative channel-embedding and IMU-assisted baselines.

cs.IT↗

arXiv2026

Survey-Free Radio Map Construction via HMM-Based Coarse-to-Fine Inference

Traditional radio map construction methods mandate labor-intensive data collection and precise location labeling. To address these limitations, we propose a novel survey-free approach for radio map construction that relies solely on unlabeled Received Signal Strength (RSS) measurements, thereby obviating the need for manual site surveys or auxiliary Inertial Measurement Units (IMUs). The key idea involves embedding multiple unlabeled RSS sequences into a known indoor layout, specifically targeting corridor-guided environments with a dominant unidirectional pedestrian flow. However, aligning the embedded coordinates with the RSS collection locations remains challenging due to the random fluctuations inherent in RSS data. To tackle this, we introduce a Hidden Markov Model (HMM)- based Coarse-to-Fine Inference (HCFI) framework. At the coarse level, we employ an HMM-based region label inference algorithm to partition RSS sequences and align the RSS segments with specific physical regions using graph-based inference. At the fine level, we develop an HMM-based location label inference technique to estimate RSS collection coordinates by leveraging RSS propagation principles while incorporating sequential spatio-temporal mobility probability. Empirical results from an office environment demonstrate that the proposed method achieves a radio map construction Mean Absolute Error (MAE) of 8.96 dB. Furthermore, based on the estimated radio map, k-Nearest Neighbor (KNN) localization yields an average positioning error of approximately 3.33 meters, offering a highly viable, survey-free solution for radio map construction under sequential topological assumptions.

cs.IT↗

arXiv2026

Hierarchical Learning for IRS-Assisted MEC Systems with Rate-Splitting Multiple Access

Intelligent reflecting surface (IRS)-assisted mobile edge computing (MEC) systems have shown notable improvements in efficiency, such as reduced latency, higher data rates, and better energy efficiency. However, the resource competition among users will lead to uneven allocation, increased latency, and lower throughput. Fortunately, the rate-splitting multiple access (RSMA) technique has emerged as a promising solution for managing interference and optimizing resource allocation in MEC systems. This paper studies an IRS-assisted MEC system with RSMA, aiming to jointly optimize the passive beamforming of the IRS, the active beamforming of the base station, the task offloading allocation, the transmit power of users, the ratios of public and private information allocation, and the decoding order of the RSMA to minimize the average delay from a novel uplink transmission perspective. Since the formulated problem is non-convex and the optimization variables are highly coupled, we propose a hierarchical deep reinforcement learning-based algorithm to optimize both continuous and discrete variables of the problem. Additionally, to better extract channel features, we design a novel network architecture within the policy and evaluation networks of the proposed algorithm, combining convolutional neural networks and densely connected convolutional network for feature extraction. Simulation results indicate that the proposed algorithm not only exhibits excellent convergence performance but also outperforms various benchmarks.

eess.SP↗

arXiv2026

Movable-Antenna Enabled Robust Vehicular Consumer Networks Under Imperfect CSI

The accelerating advancement of intelligent transportation systems has established consumer-oriented vehicular networks (CVNs) as a critical infrastructure for next-generation connected mobility. However, the high mobility of vehicular users (VUs) introduces significant channel state information (CSI) uncertainty, which severely undermines the performance of conventional fixed-position antenna systems. To address this, this paper explores the deployment of movable-antennas (MAs) to enhance communication robustness in CVNs under imperfect CSI conditions. We develop a joint optimization framework that dynamically coordinates the spatial positioning of MAs and transmit beamforming at the base station, with the objective of maximizing the worst-case sum rate across all VUs. The problem is formulated as a non-convex max-min optimization problem, subject to bounded CSI estimation errors, transmit power limits, and physical constraints on antenna displacement. By adopting an alternating optimization strategy, the original problem is decomposed into tractable subproblems, solved via techniques including the S-Procedure, Schur complement, and successive convex approximation. Numerical evaluations confirm that the proposed approach achieves substantial gains over existing benchmarks in terms of worst-case throughput.

eess.SP↗

arXiv2026

UAV-Enabled ISAC with Fluid Antennas for Low-Altitude Wireless Networks

Unmanned aerial vehicle (UAV)-enabled integrated sensing and communication (ISAC) is regarded as a key enabler for next-generation wireless systems. However, conventional fixed-position antennas limit the ability of UAVs to fully exploit their inherent potential. To overcome this limitation, we propose a UAV-enabled ISAC framework equipped with fluid antennas (FAs), where the mobility of antenna elements introduces additional spatial degrees of freedom to simultaneously enhance communication and sensing performance. A multi-objective optimization problem is formulated to maximize the communication rates of multiple users while minimizing the Cramér-Rao bound (CRB) for the angle estimation of a single target. Due to excessively frequent updates of FA positions may lead to response delay, a three-timescale optimization framework is developed to jointly optimize transmit beamforming, FA positions, and UAV trajectory based on their characteristics. To solve the non-convexity of the problem, an alternating optimization-based algorithm is developed to obtain a sub-optimal solution. Numerical results show that the proposed scheme significantly outperforms various benchmark schemes, validating the effectiveness of integrating the FA technology into the UAV-enabled ISAC systems.

cs.IT↗

arXiv2026

SVLL: Staged Vision-Language Learning for Physically Grounded Embodied Task Planning

Embodied task planning demands vision-language models to generate action sequences that are both visually grounded and causally coherent over time. However, existing training paradigms face a critical trade-off: joint end-to-end training often leads to premature temporal binding, while standard reinforcement learning methods suffer from optimization instability. To bridge this gap, we present Staged Vision-Language Learning (SVLL), a unified three-stage framework for robust, physically-grounded embodied planning. In the first two stages, SVLL decouples spatial grounding from temporal reasoning, establishing robust visual dependency before introducing sequential action history. In the final stage, we identify a key limitation of standard Direct Preference Optimization (DPO), its purely relative nature -- optimizing only the preference gap between winning and losing trajectories while neglecting absolute likelihood constraints on optimal path, often yields unsafe or hallucinated behaviors. To address this, we further introduce Bias-DPO, a novel alignment objective that injects an inductive bias toward expert trajectories by explicitly maximizing likelihood on ground-truth actions while penalizing overconfident hallucinations. By anchoring the policy to the expert manifold and mitigating causal misalignment, SVLL, powered by Bias-DPO, ensures strict adherence to environmental affordances and effectively suppresses physically impossible shortcuts. Finally, extensive experiments on the interactive AI2-THOR benchmark and real-world robotic deployments demonstrate that SVLL outperforms both state-of-the-art open-source (e.g., Qwen2.5-VL-7B) and closed-source models (e.g., GPT-4o, Gemini-2.0-flash) in task success rate, while significantly reducing physical constraint violations.

cs.CV↗

arXiv2026

MSPCaps: A Multi-Scale Patchify Capsule Network with Cross-Agreement Routing for Visual Recognition

Capsule Network (CapsNet) has demonstrated significant potential in visual recognition by capturing spatial relationships and part-whole hierarchies for learning equivariant feature representations. However, existing CapsNet and variants often rely on a single high-level feature map, overlooking the rich complementary information from multi-scale features. Furthermore, conventional feature fusion strategies (e.g., addition and concatenation) struggle to reconcile multi-scale feature discrepancies, leading to suboptimal classification performance. To address these limitations, we propose the Multi-Scale Patchify Capsule Network (MSPCaps), a novel architecture that integrates multi-scale feature learning and efficient capsule routing. Specifically, MSPCaps consists of three key components: a Multi-Scale ResNet Backbone (MSRB), a Patchify Capsule Layer (PatchifyCaps), and Cross-Agreement Routing (CAR) blocks. First, the MSRB extracts diverse multi-scale feature representations from input images, preserving both fine-grained details and global contextual information. Second, the PatchifyCaps partitions these multi-scale features into primary capsules using a uniform patch size, equipping the model with the ability to learn from diverse receptive fields. Finally, the CAR block adaptively routes the multi-scale capsules by identifying cross-scale prediction pairs with maximum agreement. Unlike the simple concatenation of multiple self-routing blocks, CAR ensures that only the most coherent capsules contribute to the final voting. Our proposed MSPCaps achieves remarkable scalability and superior robustness, consistently surpassing multiple baseline methods in terms of classification accuracy, with configurations ranging from a highly efficient Tiny model (344.3K parameters) to a powerful Large model (10.9M parameters), highlighting its potential in advancing feature representation learning.

cs.CV↗

arXiv2025

From Pretraining to Privacy: Federated Ultrasound Foundation Model with Self-Supervised Learning

Ultrasound imaging is widely used in clinical diagnosis due to its non-invasive nature and real-time capabilities. However, traditional ultrasound diagnostics relies heavily on physician expertise and is often hampered by suboptimal image quality, leading to potential diagnostic errors. While artificial intelligence (AI) offers a promising solution to enhance clinical diagnosis by detecting abnormalities across various imaging modalities, existing AI methods for ultrasound face two major challenges. First, they typically require vast amounts of labeled medical data, raising serious concerns regarding patient privacy. Second, most models are designed for specific tasks, which restricts their broader clinical utility. To overcome these challenges, we present UltraFedFM, an innovative privacy-preserving ultrasound foundation model. UltraFedFM is collaboratively pre-trained using federated learning across 16 distributed medical institutions in 9 countries, leveraging a dataset of over 1 million ultrasound images covering 19 organs and 10 ultrasound modalities. This extensive and diverse data, combined with a secure training framework, enables UltraFedFM to exhibit strong generalization and diagnostic capabilities. It achieves an average area under the receiver operating characteristic curve (AUROC) of 0.927 for disease diagnosis and a dice similarity coefficient (DSC) of 0.878 for lesion segmentation. Notably, UltraFedFM surpasses the diagnostic accuracy of mid-level ultrasonographers (4-8 years of experience) and matches the performance of expert-level sonographers (10+ years of experience) in the joint diagnosis of 8 common systemic diseases.c These findings indicate that UltraFedFM can significantly enhance clinical diagnostics while safeguarding patient privacy, marking a significant advancement in AI-driven ultrasound imaging for future clinical applications.

eess.IV↗

arXiv2025

Energy-Efficient Multi-UAV-Enabled MEC Systems over Space-Air-Ground Integrated Networks

With the development of artificial intelligence integrated next-generation communication networks, mobile users (MUs) are increasingly demanding the efficient processing of computation-intensive and latency-sensitive tasks. However, existing mobile computing networks struggle to support the rapidly growing computational needs of the MUs. Fortunately, space-air-ground integrated network (SAGIN) supported mobile edge computing (MEC) is regarded as an effective solution, offering the MUs multi-tier and efficient computing services. In this paper, we consider an SAGIN supported MEC system, where a low Earth orbit satellite and multiple unmanned aerial vehicles (UAVs) are dispatched to provide computing services for MUs. An energy efficiency maximization problem is formulated, with the joint optimization of the MU-UAV association, the UAV trajectory, the task offloading decision, the computing frequency, and the transmission power control. Since the problem is non-convex, we decompose it into four subproblems, and propose an alternating optimization based algorithm to solve it. Simulation results confirm that the proposed algorithm outperforms the benchmarks.

eess.SP↗

arXiv2025

Decentralized Dynamic Cooperation of Personalized Models for Federated Continual Learning

Federated continual learning (FCL) has garnered increasing attention for its ability to support distributed computation in environments with evolving data distributions. However, the emergence of new tasks introduces both temporal and cross-client shifts, making catastrophic forgetting a critical challenge. Most existing works aggregate knowledge from clients into a global model, which may not enhance client performance since irrelevant knowledge could introduce interference, especially in heterogeneous scenarios. Additionally, directly applying decentralized approaches to FCL suffers from ineffective group formation caused by task changes. To address these challenges, we propose a decentralized dynamic cooperation framework for FCL, where clients establish dynamic cooperative learning coalitions to balance the acquisition of new knowledge and the retention of prior learning, thereby obtaining personalized models. To maximize model performance, each client engages in selective cooperation, dynamically allying with others who offer meaningful performance gains. This results in non-overlapping, variable coalitions at each stage of the task. Moreover, we use coalitional affinity game to simulate coalition relationships between clients. By assessing both client gradient coherence and model similarity, we quantify the client benefits derived from cooperation. We also propose a merge-blocking algorithm and a dynamic cooperative evolution algorithm to achieve cooperative and dynamic equilibrium. Comprehensive experiments demonstrate the superiority of our method compared to various baselines. Code is available at: https://github.com/ydn3229/DCFCL.

cs.LG↗

arXiv2025

Fluid Antenna Systems Meet Low-Altitude Wireless Networks: Fundamentals, Opportunities, and Future Directions

Low-altitude wireless networks (LAWNs) are widely regarded as a cornerstone of the emerging low-altitude economy, yet they face significant challenges, including rapidly varying channels, diverse functional requirements, and dynamic interference environments. Fluid antenna (FA) systems introduce spatial reconfigurability that complements and extends conventional beamforming, enabling flexible exploitation of spatial diversity and adaptive response to channel variations. This paper proposes a novel architecture for FA-empowered LAWNs and presents a case study demonstrating substantial improvements in communication, sensing, and control performance compared to fixed-position antenna (FPA) systems. Key practical deployment considerations are examined, including mechanical design, position control, energy efficiency, and compliance with emerging industry standards. In addition, several future research directions are highlighted, including intelligent optimization, multi-function integration, and the exploration of novel low-altitude applications. By integrating theoretical analysis with practical deployment perspectives, this paper establishes FA systems as a key enabler for adaptive, efficient, and resilient network infrastructures in next-generation LAWNs.

cs.IT↗