Author

Yilun Kong

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Jul 2026

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

ACE-Brain-0.5 is presented, a unified embodied foundation model that organizes robot intelligence into five coupled functions: spatial perception, decision making, embodied interaction, self-monitoring, and self-improvement, and SSR+, which extends Scaffold-Specialize-Reconcile with a Reactivate stage after task-vector merging.

Zi-Yang Gong, Hao-Ming Gu, Ze-Hang Luo et al. · arXiv.org · 3 citations

Preprint Jul 2026

ExToken: Structured Exploration for Efficient Vision-Language-Action Reinforcement Fine-tuning

ExToken is introduced, a simple yet general framework that condition VLA policies on discrete behavioral priors derived from offline demonstrations for structured exploration that consistently accelerates convergence, improves task performance, and exhibits strong robustness under highly constrained interaction budgets.

Yilun Kong, Yunpeng Qing, Guozheng Ma et al. · 0 citations