ACE-Data-0: Human-Centric Ambient Capture as Embodied Data Engine
ACE-Data-0 是面向世界模型、VLA和模仿学习的人类具身采集计划：官方论文和数据卡描述 150+ 小时、17M+ 视频帧、75,000+ interaction episodes、200+ 任务类别、第一/第三视角视频、全身及手部动作、物体6DoF、音频与全掌触觉。官方 Hugging Face 仓库已建立个人非商业学术研究申请和专门许可，但 README 明示数据文件尚未发布，当前仅有README和LICENSE；因此这是“官方受限发布面已核验、数据制品未开放”的高价值观察记录，不能作为可下载训练集或开放数据规模计数。
- 开放状态
- 项目已核验·制品未开放
- 许可证
- ACE-Data-0 Research License Agreement: personal, non-transferable, non-commercial academic research only; data files not yet published
- 商业使用
- not permitted under the published research license; commercial licensing is explicitly handled separately
- 人工评审结论
- official_gated_research_license_metadata_release_data_files_not_published
- 机器人
- human-operated ACE capture rig; no robot-action training embodiment released
- 任务
- atomic household hand-object interaction, long-horizon household activity chains and whole-body human-scene interaction
- 模态
- 4 egocentric fisheye RGB views、8 synchronized exocentric RGB views、headset IMU and 6-DoF pose、41-joint body motion、articulated hand motion、SMPL-X、object meshes and 6-DoF trajectories、audio、full-palm tactile pressure、goal and sub-goal language
- 格式
- not released; official README says future data will use sharded archives and will later add layout, checksums and loading examples
- 采集/生成方式
- spatially calibrated, time-synchronized recording in real homes using headset cameras, exocentric cameras, optical motion capture, human motion suit and tactile gloves
- 已知问题
- Data files are explicitly not published; only README/LICENSE metadata tree is public. Access is personal, non-transferable and non-commercial academic only because recordings contain identifiable people in real homes. No manifest, bytes, samples, checksums, loading code, data splits, released calibration, action retargeting, robot embodiment, failure ledger or independent reuse report is available. Do not score planned 150h/75k episodes as downloadable corpus scale.