The paper introduces the Ambient Capture Engine (ACE), a human-centric recording system that turns real homes into spatially calibrated and temporally synchronized studios for embodied-data collection. It supports both table-scale manipulation and room-scale whole-body interaction. ACE-Data-0 contains 150 hours and 17 million video frames covering 200 task categories, 50 participants, two environments, and 75,000 interaction episodes. The system jointly records egocentric and exocentric video, full-body and articulated hand motion, object geometry and 6-DoF trajectories, audio, and tactile signals. The accompanying hierarchical benchmark evaluates signals, scene components, and interactions.
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