ACE-Brain-0:将空间智能作为通用具身智能的共享基础框架 / ACE-Brain-0: Spatial Intelligence as a Shared Scaffold for Universal Embodiments
1️⃣ 一句话总结
这篇论文提出了一个名为ACE-Brain-0的通用智能基础模型,其核心思想是利用‘空间智能’作为通用桥梁,成功地将自动驾驶、机器人操控和无人机飞行等不同形态的智能体统一到一个多模态大模型中,并通过创新的训练方法使其在多种任务上达到领先性能。
Universal embodied intelligence demands robust generalization across heterogeneous embodiments, such as autonomous driving, robotics, and unmanned aerial vehicles (UAVs). However, existing embodied brain in training a unified model over diverse embodiments frequently triggers long-tail data, gradient interference, and catastrophic forgetting, making it notoriously difficult to balance universal generalization with domain-specific proficiency. In this report, we introduce ACE-Brain-0, a generalist foundation brain that unifies spatial reasoning, autonomous driving, and embodied manipulation within a single multimodal large language model~(MLLM). Our key insight is that spatial intelligence serves as a universal scaffold across diverse physical embodiments: although vehicles, robots, and UAVs differ drastically in morphology, they share a common need for modeling 3D mental space, making spatial cognition a natural, domain-agnostic foundation for cross-embodiment transfer. Building on this insight, we propose the Scaffold-Specialize-Reconcile~(SSR) paradigm, which first establishes a shared spatial foundation, then cultivates domain-specialized experts, and finally harmonizes them through data-free model merging. Furthermore, we adopt Group Relative Policy Optimization~(GRPO) to strengthen the model's comprehensive capability. Extensive experiments demonstrate that ACE-Brain-0 achieves competitive and even state-of-the-art performance across 24 spatial and embodiment-related benchmarks.
ACE-Brain-0:将空间智能作为通用具身智能的共享基础框架 / ACE-Brain-0: Spatial Intelligence as a Shared Scaffold for Universal Embodiments
这篇论文提出了一个名为ACE-Brain-0的通用智能基础模型,其核心思想是利用‘空间智能’作为通用桥梁,成功地将自动驾驶、机器人操控和无人机飞行等不同形态的智能体统一到一个多模态大模型中,并通过创新的训练方法使其在多种任务上达到领先性能。
源自 arXiv: 2603.03198