ACE-Brain-0: Spatial Intelligence as a Shared Scaffold for Universal Embodiments

TL;DR

ACE-Brain-0 introduces a unified multimodal large language model leveraging spatial intelligence as a universal foundation to improve generalization across diverse embodied AI systems like vehicles, robots, and UAVs.

Contribution

The paper proposes the SSR paradigm and a multimodal model that unifies spatial reasoning with domain-specific expertise for cross-embodiment generalization.

Findings

Achieves state-of-the-art performance on 24 benchmarks.

Effectively balances universal generalization with domain-specific skills.

Demonstrates the importance of spatial intelligence as a shared scaffold.

Abstract

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.