Hi @ThinhNguyen!
In order to use the remote cores, you have to enable the overlay named verdin-am62_hmp_overlay.dtbo. This overlay reserves memory regions for the M4 and R5 cores.
In this other community topic, I described how you can build and run an example for the M4, and the step-by-step should be the same for R5. I recommend starting there.
Feel free to ask if you have any doubts or issues.
Best regards.
Lucas Fernandes Azeituno.