Got the same problem:
ihanick@bb:~/ecu$ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description:    Ubuntu 12.04.1 LTS
Release:        12.04
Codename:       precise
ihanick@bb:~/ecu$ ssh -V
OpenSSH_5.9p1 Debian-5ubuntu1, OpenSSL 1.0.1 14 Mar 2012

trying to ssh from 12.04 host to 10.04:
..
debug2: kex_parse_kexinit: 
debug2: kex_parse_kexinit: 
debug2: kex_parse_kexinit: first_kex_follows 0 
debug2: kex_parse_kexinit: reserved 0 
debug2: mac_setup: found hmac-md5
debug1: kex: server->client aes128-ctr hmac-md5 none
debug2: mac_setup: found hmac-md5
debug1: kex: client->server aes128-ctr hmac-md5 none
debug1: SSH2_MSG_KEX_DH_GEX_REQUEST(1024<1024<8192) sent
debug1: expecting SSH2_MSG_KEX_DH_GEX_GROUP

After disabling hmac-md5, by using MACs hmac-sha1,umac...@openssh.com
,hmac-ripemd160 in /etc/ssh/ssh_config

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https://bugs.launchpad.net/bugs/174168

Title:
   expecting SSH2_MSG_KEX_DH_GEX_GROUP

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