Anvil: Scaling Embodied Spatial Intelligence through Knowledge Recirculation
Embodied spatial intelligence requires more than visual recognition: models must localize entities, reason about their relations, and express this knowledge in action-relevant forms. Yet joint training can conflate the knowledge needed at different stages because supervision is fragmented across incompatible geometric and semantic outputs. We introduce Anvil, a unified framework for data generation, training, and benchmarking for embodied spatial intelligence. (1) Anvil-Gen is a heterogeneous data flywheel that combines form-specific generation, cross-stage consistency verification, and failure-driven recollection across 11 Ground--Relation--Act forms. (2) Anvil-Ben provides scene-aligned...
| Authors | Weilin Ruan, Bohan Zhou, Jinghao Li et al. |
|---|---|
| Primary category | cs.CV |
| Published | 15 October 2026 |
| Last updated at source | 15 October 2026 |
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