Title:Memory Centric Power Allocation for Multi-Agent Embodied Question Answering

Abstract:This paper considers multi-agent embodied question answering (MA-EQA), which enables robot teams to answer queries based on their long-horizon observations. In contrast to existing edge resource management methods that optimize sensing, communication, or computation performance metrics, MA-EQA focuses on the quality of aggregated memory. To address this paradigm shift, we propose a quality of memory (QoM) model based on generative adversarial exam (GAE), which leverages forward simulation to evaluate memory retrieval and utilizes the resulting exam scores to quantify QoM. Based on the QoM model, we develop a memory-centric power allocation (MCPA) scheme that maximizes memory quality under communication resource constraints. Through analytical characterization in the noise-limited regime, we reveal a GAE-augmented capped water-filling structure for MCPA. Extensive experiments demonstrate that MCPA achieves significant improvements over existing benchmarks across diverse metrics and scenarios.