{"id":"https://openalex.org/W7133492858","doi":"https://doi.org/10.48550/arxiv.2603.03198","title":"ACE-Brain-0: Spatial Intelligence as a Shared Scaffold for Universal Embodiments","display_name":"ACE-Brain-0: Spatial Intelligence as a Shared Scaffold for Universal Embodiments","publication_year":2026,"publication_date":"2026-03-03","ids":{"openalex":"https://openalex.org/W7133492858","doi":"https://doi.org/10.48550/arxiv.2603.03198"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.03198","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.03198","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.03198","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128044157","display_name":"Ziyang Gong","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Gong, Ziyang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128113186","display_name":"Zehang Luo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Luo, Zehang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103065439","display_name":"Anke Tang","orcid":"https://orcid.org/0000-0002-0576-8153"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tang, Anke","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128050717","display_name":"Zhe Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Zhe","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029340024","display_name":"Shi Fu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fu, Shi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128108210","display_name":"Zhi Hou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hou, Zhi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028230401","display_name":"Ganlin Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Ganlin","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128111157","display_name":"Weiyun Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Weiyun","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128089862","display_name":"Xiaofeng Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Xiaofeng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128038592","display_name":"Jianbo Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Jianbo","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128101982","display_name":"Gen Luo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Luo, Gen","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101221734","display_name":"Haolan Kang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kang, Haolan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128095746","display_name":"Shuang Luo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Luo, Shuang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128117201","display_name":"Yue Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Yue","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128046748","display_name":"Yong Luo","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Luo, Yong","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128096340","display_name":"Li Shen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Shen, Li","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128115258","display_name":"Xiaosong Jia","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jia, Xiaosong","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128063395","display_name":"Yao Mu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mu, Yao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128077771","display_name":"Xue Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Xue","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128088430","display_name":"Chunxiao Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Chunxiao","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128064679","display_name":"Junchi Yan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yan, Junchi","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128103950","display_name":"Hengshuang Zhao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhao, Hengshuang","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128125324","display_name":"Dacheng Tao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tao, Dacheng","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5128039894","display_name":"Xiaogang Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, Xiaogang","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":24,"corresponding_author_ids":["https://openalex.org/A5128044157"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.6316999793052673,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.6316999793052673,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.059700001031160355,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.04320000112056732,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/embodied-cognition","display_name":"Embodied cognition","score":0.7843000292778015},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.6007999777793884},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.597100019454956},{"id":"https://openalex.org/keywords/spatial-intelligence","display_name":"Spatial intelligence","score":0.5094000101089478},{"id":"https://openalex.org/keywords/exploit","display_name":"Exploit","score":0.45089998841285706},{"id":"https://openalex.org/keywords/cognitive-robotics","display_name":"Cognitive robotics","score":0.4494999945163727},{"id":"https://openalex.org/keywords/foundation","display_name":"Foundation (evidence)","score":0.44519999623298645}],"concepts":[{"id":"https://openalex.org/C100609095","wikidata":"https://www.wikidata.org/wiki/Q1335050","display_name":"Embodied cognition","level":2,"score":0.7843000292778015},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6664000153541565},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.6007999777793884},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.597100019454956},{"id":"https://openalex.org/C155911833","wikidata":"https://www.wikidata.org/wiki/Q3817354","display_name":"Spatial intelligence","level":2,"score":0.5094000101089478},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5091999769210815},{"id":"https://openalex.org/C165696696","wikidata":"https://www.wikidata.org/wiki/Q11287","display_name":"Exploit","level":2,"score":0.45089998841285706},{"id":"https://openalex.org/C192327766","wikidata":"https://www.wikidata.org/wiki/Q1038799","display_name":"Cognitive robotics","level":3,"score":0.4494999945163727},{"id":"https://openalex.org/C2780966255","wikidata":"https://www.wikidata.org/wiki/Q5474306","display_name":"Foundation (evidence)","level":2,"score":0.44519999623298645},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40709999203681946},{"id":"https://openalex.org/C2777371692","wikidata":"https://www.wikidata.org/wiki/Q2178611","display_name":"Spatial cognition","level":3,"score":0.364300012588501},{"id":"https://openalex.org/C59519942","wikidata":"https://www.wikidata.org/wiki/Q650665","display_name":"Drone","level":2,"score":0.3449000120162964},{"id":"https://openalex.org/C169900460","wikidata":"https://www.wikidata.org/wiki/Q2200417","display_name":"Cognition","level":2,"score":0.30059999227523804},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.28839999437332153},{"id":"https://openalex.org/C162027153","wikidata":"https://www.wikidata.org/wiki/Q2264109","display_name":"Artificial general intelligence","level":2,"score":0.2696000039577484},{"id":"https://openalex.org/C126831891","wikidata":"https://www.wikidata.org/wiki/Q221673","display_name":"Host (biology)","level":2,"score":0.26440000534057617},{"id":"https://openalex.org/C27511587","wikidata":"https://www.wikidata.org/wiki/Q2178623","display_name":"Spatial relation","level":2,"score":0.26429998874664307},{"id":"https://openalex.org/C2778662690","wikidata":"https://www.wikidata.org/wiki/Q3125339","display_name":"Spatial ability","level":3,"score":0.25699999928474426},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2551000118255615}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.03198","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.03198","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.03198","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.03198","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Universal":[0],"embodied":[1,21,68],"intelligence":[2,83],"demands":[3],"robust":[4],"generalization":[5,47],"across":[6,89,174],"heterogeneous":[7],"embodiments,":[8],"such":[9],"as":[10,85],"autonomous":[11,65],"driving,":[12,66],"robotics,":[13],"and":[14,37,67,96,142,170,177],"unmanned":[15],"aerial":[16],"vehicles":[17],"(UAVs).":[18],"However,":[19],"existing":[20],"brain":[22,60],"in":[23,100],"training":[24],"a":[25,57,71,86,104,115,134],"unified":[26],"model":[27,148],"over":[28],"diverse":[29,90],"embodiments":[30],"frequently":[31],"triggers":[32],"long-tail":[33],"data,":[34],"gradient":[35],"interference,":[36],"catastrophic":[38],"forgetting,":[39],"making":[40,112],"it":[41],"notoriously":[42],"difficult":[43],"to":[44,157],"balance":[45],"universal":[46,87],"with":[48],"domain-specific":[49],"proficiency.":[50],"In":[51],"this":[52,124],"report,":[53],"we":[54,126,151],"introduce":[55],"ACE-Brain-0,":[56],"generalist":[58],"foundation":[59,118],"that":[61,81,166],"unifies":[62],"spatial":[63,82,113,136,176],"reasoning,":[64],"manipulation":[69],"within":[70],"single":[72],"multimodal":[73],"large":[74],"language":[75],"model~(MLLM).":[76],"Our":[77],"key":[78],"insight":[79],"is":[80],"serves":[84],"scaffold":[88],"physical":[91],"embodiments:":[92],"although":[93],"vehicles,":[94],"robots,":[95],"UAVs":[97],"differ":[98],"drastically":[99],"morphology,":[101],"they":[102],"share":[103],"common":[105],"need":[106],"for":[107,119],"modeling":[108],"3D":[109],"mental":[110],"space,":[111],"cognition":[114],"natural,":[116],"domain-agnostic":[117],"cross-embodiment":[120],"transfer.":[121],"Building":[122],"on":[123],"insight,":[125],"propose":[127],"the":[128,159],"Scaffold-Specialize-Reconcile~(SSR)":[129],"paradigm,":[130],"which":[131],"first":[132],"establishes":[133],"shared":[135],"foundation,":[137],"then":[138],"cultivates":[139],"domain-specialized":[140],"experts,":[141],"finally":[143],"harmonizes":[144],"them":[145],"through":[146],"data-free":[147],"merging.":[149],"Furthermore,":[150],"adopt":[152],"Group":[153],"Relative":[154],"Policy":[155],"Optimization~(GRPO)":[156],"strengthen":[158],"model's":[160],"comprehensive":[161],"capability.":[162],"Extensive":[163],"experiments":[164],"demonstrate":[165],"ACE-Brain-0":[167],"achieves":[168],"competitive":[169],"even":[171],"state-of-the-art":[172],"performance":[173],"24":[175],"embodiment-related":[178],"benchmarks.":[179]},"counts_by_year":[],"updated_date":"2026-03-05T07:36:02.291473","created_date":"2026-03-05T00:00:00"}
