diff --git a/libsel4/tools/syscall_stub_gen.py b/libsel4/tools/syscall_stub_gen.py
index 227a4ede1..1d629b6c3 100644
--- a/libsel4/tools/syscall_stub_gen.py
+++ b/libsel4/tools/syscall_stub_gen.py
@@ -820,8 +820,8 @@ def parse_xml_file(input_file, valid_types):
             # Prefix the label with an api-wide label prefix
             method_manual_label = "%s%s" % (api.label_prefix, method_manual_label)
 
-            comment_lines = ["@xmlonly <manual name=\"%s - %s\" label=\"%s\"/> @endxmlonly" %
-                    (interface_manual_name, method_manual_name, method_manual_label)]
+            comment_lines = ["@xmlonly <manual name=\"%s\" label=\"%s\"/> @endxmlonly" %
+                    (method_manual_name, method_manual_label)]
 
             method_brief = method.getElementsByTagName("brief")
             if method_brief:
diff --git a/manual/tools/gen_invocations.py b/manual/tools/gen_invocations.py
index 54324de63..162df778d 100755
--- a/manual/tools/gen_invocations.py
+++ b/manual/tools/gen_invocations.py
@@ -68,9 +68,27 @@ def gen_invocations(input_files, output_file):
     for input_file in input_files:
         methods, _, api = syscall_stub_gen.parse_xml_file(input_file, types)
         prototypes = []
-        for (interface_name, method_name, method_id, inputs, outputs, _, comment) in methods:
-            prototype = generate_prototype(interface_name, method_name, method_id, inputs, outputs, comment)
-            prototypes.append(prototype)
+
+        # figure out the prefix to use for an interface group id. This makes groups per arch,
+        # sel4_arch unique even through the interface name is the same.
+        prefix = None
+        if "arch_include" in input_file:
+            # extract the 2nd last path member
+            (path, tail) = os.path.split(os.path.dirname(input_file))
+            assert tail == "interfaces"
+            (path, prefix) = os.path.split(path)
+
+        # group the methods in each interface
+        for interface_name, methods in itertools.groupby(methods, lambda x: x[0]):
+            group_id = interface_name if prefix is None else prefix + '_' + interface_name
+            group_name = interface_name
+            output_file.write("/**\n * @defgroup %s %s\n * @{{\n */\n\n" % (group_id, group_name))
+            output_file.write("/** @} */\n")
+            for (interface_name, method_name, method_id, inputs, outputs, _, comment) in methods:
+                prototype = "/**\n * @addtogroup %s %s\n * @{{\n */\n\n" % (group_id, group_name)
+                prototype += generate_prototype(interface_name, method_name, method_id, inputs, outputs, comment)
+                prototype += "/** @} */\n"
+                prototypes.append(prototype)
 
         prototypes.sort()
 
diff --git a/manual/tools/parse_doxygen_xml.py b/manual/tools/parse_doxygen_xml.py
index 6050f2abf..7ab7781e1 100755
--- a/manual/tools/parse_doxygen_xml.py
+++ b/manual/tools/parse_doxygen_xml.py
@@ -345,6 +345,9 @@ class LatexGenerator(Generator):
         else:
             return 'paragraph'
 
+    def level_to_heading(self, level, name):
+        return '\\' + self.level_to_header(level) + '{' + self.text_escape(name) + '}'
+
 class MarkdownGenerator(Generator):
     """
     A class that represents the generator for Doxygen to Markdown. A child of the Generator class
@@ -489,6 +492,9 @@ Type | Name | Description
     def level_to_header(self, level):
         return (level + 1) * '#'
 
+    def level_to_heading(self, level, name):
+        return self.level_to_header(level) + ' ' + self.text_escape(name)
+
 def generate_general_syscall_doc(generator, input_file_name, level):
     """
     Takes a path to a file containing doxygen-generated xml,
@@ -496,6 +502,7 @@ def generate_general_syscall_doc(generator, input_file_name, level):
     in the sel4 manual.
     """
 
+    dir_name = os.path.dirname(input_file_name)
     with open(input_file_name, "r") as f:
         output = ""
         soup = BeautifulSoup(f, "lxml")
@@ -507,8 +514,15 @@ def generate_general_syscall_doc(generator, input_file_name, level):
             if ddesc.para:
                 output += generator.parse_para(ddesc.para)
 
+        # parse any nested groups
+        for inner_group in soup.find_all("innergroup"):
+            new_input_file_name = inner_group["refid"] + '.xml'
+            new_input_file = os.path.join(dir_name, new_input_file_name)
+            output += generator.level_to_heading(level, inner_group.text)
+            output += generate_general_syscall_doc(generator, new_input_file, level + 1)
+
         # parse all of the function definitions
-        if len(elements) == 0:
+        if len(elements) == 0 and output == "":
             return "No methods."
 
         for member in elements: