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

Key points

The ACE system turns real home environments into recording studios, with both table-scale and room-scale settings.
It is a large dataset with 150 hours, 17 million frames, 75,000 episodes, 50 participants, and 200 task categories.
It synchronizes egocentric and multi-view exocentric video, full-body and hand motion, 6-DoF object trajectories, audio, and touch at the millisecond level.
It supports zero-shot motion transfer from simulation to the real world and exposes the limitations of more than 30 existing methods through benchmarking.
It can serve as training data for imitation learning, world models, and VLA systems.

External research summaries. These are not HDATF publications or measured product results.