ACE-Data-0: Human-Centric Ambient Capture as Embodied Data Engine

Embodied intelligence faces a fundamental data bottleneck. Models must capture how first-person perception, whole-body motion, dexterous manipulation, object state, sound, and touch evolve together as humans pursue goals over time. Existing datasets fragment this experience across viewpoints, modalities, or spatial scales, leaving the full perception-action loop only partially observed. We introduce the Ambient Capture Engine (ACE), a human-centric data engine that transforms real home environments into spatially calibrated, temporally synchronized recording studios. ACE operates at two complementary scales: a table-scale configuration resolves hand-object manipulation, while a room-scale configuration captures whole-body motion, locomotion, and interactions across a furnished home. ACE records egocentric and multi-view exocentric video, full-body and articulated hand motion, object geometry and 6-DoF trajectories, audio, and tactile signals as a unified multisensory stream. Using ACE, we build ACE-Data-0, comprising 150 hours and 17M video frames across 200 task categories, performed by 50 participants in 2 environments, for a total of 75,000 interaction episodes. The dataset spans atomic manipulation, long-horizon chains of household activities, and human-scene interaction, while preserving natural behavioral variation through goal-level rather than step-by-step instructions. We further introduce a hierarchical benchmark that progresses from signals to scene components and then to interactions. Evaluations of state-of-the-art methods expose substantial gaps under contact, occlusion, egomotion, and long temporal horizons. ACE-Data-0 provides synchronized human demonstrations with aligned perceptual, kinematic, and contact supervision, offering a scalable foundation for imitation learning, world models, vision-language-action systems, and embodied AI.

SoccerNet 2026 Challenges Results

The SoccerNet 2026 Challenges constitute the sixth annual edition of the SoccerNet open benchmarking effort, dedicated to advancing computer vision research in sports video understanding. This year's challenges span five vision-based tasks: (1) Ball Action Anticipation, predicting the timing and class of ball-related actions within a short future window from a preceding observation window; (2) Player-Centric Ball Action Spotting, temporally localizing and classifying ball-related actions while assigning each action to the acting player through team affiliation and jersey number; (3) Novel View Synthesis, rendering images from unobserved camera poses in multi-view football scenes; (4) Spiideo SoccerNet Synloc, localizing athletes in real-world pitch coordinates from a single calibrated static-camera image; and (5) Visual Question Answering, answering multiple-choice questions about football broadcasts across text, image, and video inputs. For each task, participants were provided with annotated data, a unified evaluation protocol, and a public baseline. This edition saw broad participation, with 427 teams submitting 1,129 entries across the five tasks and 28 teams contributing reviewed technical reports. This paper describes each task and its evaluation protocol, presents the challenge leaderboards, and summarizes the leading submissions, with the aim of documenting the current state of each task as measured on held-out challenge data.

ACE-Brain-0.5: A Unified Embodied Foundational Model for Physical Agentic AI

Embodied AI is moving from isolated perception or action modules toward physical agents that understand, plan under goals, act through robot bodies, monitor progress, and improve from experience. Existing systems address this loop only in parts: end-to-end policies generate actions but often lack spatial reasoning, planning, and execution assessment, while robot-agent systems orchestrate tools or specialists but do not learn a shared representation. This fragmentation limits general Physical Agentic AI. We present ACE-Brain-0.5, a unified embodied foundation model that organizes robot intelligence into five coupled functions: spatial perception, decision making, embodied interaction, self-monitoring, and self-improvement. Built on ACE-Brain-0, which established spatial intelligence as a shared scaffold across robot platforms, ACE-Brain-0.5 extends an understanding-centric model into a closed-loop foundation model. A single 8B backbone instantiates the first four functions: grounding objects and affordances, reasoning over 3D and egocentric spatial relations, decomposing instructions into subgoals, generating navigation and manipulation actions, and estimating progress for verification and recovery. To unify these capabilities without cross-task interference, we introduce SSR+, which extends Scaffold-Specialize-Reconcile with a Reactivate stage after task-vector merging. The fifth function, self-improvement, is realized by a companion framework that updates external execution state, including task schemas, spatial memory, and failure-recovery cases, from rollouts. Across fifteen benchmarks, ACE-Brain-0.5 improves over ACE-Brain-0 on 14 of 18 spatial perception and grounding benchmarks, achieves competitive navigation and manipulation performance, and provides strong progress estimation in ID and OOD settings. Together, these results mark an early step toward general Physical Agentic AI.

Kairos: A Native World Model Stack for Physical AI

World models are transitioning from passive visual generators to foundational, operational infrastructure for Physical AI: they must natively acquire world knowledge from heterogeneous experience, maintain persistent states over long horizons, and execute efficiently within real deployment constraints. We introduce Kairos, a native world model stack designed around these requirements. (1) Kairos learns the world by pioneering a Native Pre-training Paradigm governed by a Cross-Embodiment Data Curriculum, which organizes open-world videos, human behavioral data, and robot interactions into a progressive developmental pathway. (2) Kairos maintains the world by unified world understanding, generation, and prediction within a Native Unified Architecture equipped with Hybrid Linear Temporal Attention, where sliding-window attention captures local dynamics, dilated sliding windows capture mid-range dependencies, and gated linear attention maintains persistent global memory. We establish formal theoretical bounds demonstrating that this temporal factorization strictly limits error accumulation, mathematically guaranteeing state propagation across extended horizons. (3) Kairos runs the world by incorporating a Deployment-Aware System Co-Design to support low-latency rollout generation on server and consumer-grade hardware for real-world observation-action-feedback loops. Experiments on embodied world-model, long-horizon, and action-policy benchmarks show that Kairos achieves top level performance while offering a strong efficiency-capability trade-off. Together, these results position Kairos as a cohesive operational foundation for future self-evolving physical intelligence.

ACE-Ego-0: Unifying Egocentric Human and Robotic Data for VLA Pretraining

Vision-Language-Action (VLA) models benefit from large-scale and diverse embodied data, yet scaling robot trajectory collection is costly and labor-intensive. Recent advances show that large-scale egocentric human videos provide complementary real-world supervision in pretraining. However, joint training on human and robot data remains challenging due to divergences in action spaces, embodiment structures, temporal dynamics, and supervision quality. We introduce ACE-EGO-0, a unified VLA pretraining framework jointly leveraging heterogeneous data sources. To extract large-scale pretraining supervision from egocentric human videos, we build a scalable egocentric video-to-action pipeline that converts raw human videos into robot-format pseudo-action trajectories. To make these labels comparable with robot demonstrations, ACE-EGO-0 uses a unified action representation based on camera-space actions, morphology conditioning, and time-aligned action chunking. To robustly leverage noisy pseudo-action supervision from egocentric human videos, we formulate a reliability-aware training objective with a human auxiliary loss that concentrates supervision on reliable signals. We instantiate ACE-EGO-0 on 4.53K hours of robot and simulation data, together with 1.48K hours of pseudo-action-labeled egocentric human data. Experiments show that incorporating large-scale human supervision under reliability-aware weighting consistently improves both unified joint pretraining and supervised fine-tuning. ACE-EGO-0 achieves state-of-the-art performance on RoboCasa GR1 TableTop and RoboTwin 2.0, while demonstrating strong transfer to real-world bimanual manipulation.

Hierarchical Advantage Weighting for Online RL Fine-Tuning of VLAs from Sparse Episode Outcomes

When pretrained VLA policies are fine-tuned through online RL, each rollout episode produces only a single binary outcome (success or failure), yet the actor update requires per-transition supervision. Existing approaches commonly reduce this sparse outcome to a single scalar reward or advantage signal, which conflates distinct forms of transition-level feedback and provides limited guidance once basic task success becomes achievable. First, a single scalar signal conflates the two objectives of viability and efficiency; once basic success is achieved, the binary label provides no gradient to distinguish efficient completions from slow ones. Second, real-world rollouts mix autonomous and intervention segments; naively assigning episode outcomes across these boundaries introduces incorrect credit assignment. To address these issues, we propose Hierarchical Advantage-Weighted Behavior Cloning (HABC), which trains separate critic heads for these two objectives on different data subsets and combines their outputs with a state-adaptive balance. A state-adaptive gate $g_t$ merges their one-step advantages, prioritizing viability when success is uncertain and shifting to efficiency only when viability is high, and converts the result into per-transition weights on the actor loss. Intervention-aware credit assignment further restricts outcome labels to segments executed by the current policy, preventing supervision from leaking across intervention boundaries. In real-robot experiments on three contact-rich bimanual tasks, HABC raises success from supervised fine-tuning (SFT) baselines of 36%, 44%, and 12% to 92%, 88%, and 38%.

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

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.

ArtPro: Self-Supervised Articulated Object Reconstruction with Adaptive Integration of Mobility Proposals

Reconstructing articulated objects into high-fidelity digital twins is crucial for applications such as robotic manipulation and interactive simulation. Recent self-supervised methods using differentiable rendering frameworks like 3D Gaussian Splatting remain highly sensitive to the initial part segmentation. Their reliance on heuristic clustering or pre-trained models often causes optimization to converge to local minima, especially for complex multi-part objects. To address these limitations, we propose ArtPro, a novel self-supervised framework that introduces adaptive integration of mobility proposals. Our approach begins with an over-segmentation initialization guided by geometry features and motion priors, generating part proposals with plausible motion hypotheses. During optimization, we dynamically merge these proposals by analyzing motion consistency among spatial neighbors, while a collision-aware motion pruning mechanism prevents erroneous kinematic estimation. Extensive experiments on both synthetic and real-world objects demonstrate that ArtPro achieves robust reconstruction of complex multi-part objects, significantly outperforming existing methods in accuracy and stability.

Language-based Trial and Error Falls Behind in the Era of Experience

While Large Language Models (LLMs) excel in language-based agentic tasks, their applicability to unseen, nonlinguistic environments (e.g., symbolic or spatial tasks) remains limited. Previous work attributes this performance gap to the mismatch between the pretraining distribution and the testing distribution. In this work, we demonstrate the primary bottleneck is the prohibitive cost of exploration: mastering these tasks requires extensive trial-and-error, which is computationally unsustainable for parameter-heavy LLMs operating in a high dimensional semantic space. To address this, we propose SCOUT (Sub-Scale Collaboration On Unseen Tasks), a novel framework that decouples exploration from exploitation. We employ lightweight "scouts" (e.g., small MLPs) to probe environmental dynamics at a speed and scale far exceeding LLMs. The collected trajectories are utilized to bootstrap the LLM via Supervised Fine-Tuning (SFT), followed by multi-turn Reinforcement Learning (RL) to activate its latent world knowledge. Empirically, SCOUT enables a Qwen2.5-3B-Instruct model to achieve an average score of 0.86, significantly outperforming proprietary models, including Gemini-2.5-Pro (0.60), while saving about 60% GPU hours consumption.

MonoMobility: Zero-Shot 3D Mobility Analysis from Monocular Videos

Accurately analyzing the motion parts and their motion attributes in dynamic environments is crucial for advancing key areas such as embodied intelligence. Addressing the limitations of existing methods that rely on dense multi-view images or detailed part-level annotations, we propose an innovative framework that can analyze 3D mobility from monocular videos in a zero-shot manner. This framework can precisely parse motion parts and motion attributes only using a monocular video, completely eliminating the need for annotated training data. Specifically, our method first constructs the scene geometry and roughly analyzes the motion parts and their initial motion attributes combining depth estimation, optical flow analysis and point cloud registration method, then employs 2D Gaussian splatting for scene representation. Building on this, we introduce an end-to-end dynamic scene optimization algorithm specifically designed for articulated objects, refining the initial analysis results to ensure the system can handle 'rotation', 'translation', and even complex movements ('rotation+translation'), demonstrating high flexibility and versatility. To validate the robustness and wide applicability of our method, we created a comprehensive dataset comprising both simulated and real-world scenarios. Experimental results show that our framework can effectively analyze articulated object motions in an annotation-free manner, showcasing its significant potential in future embodied intelligence applications.