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We report direct optical observation of cavitation bubbles in liquid helium, both in classical viscous He I and in superfluid He II, close to the $$\lambda $$ -transition. Heterogenous cavitation due to the fast-flowing liquid over the rough surface of prongs of a quartz tuning fork oscillating at its fundamental resonant frequency of $$4\,\mathrm {kHz}$$ occurs in the form of a cluster of small bubbles rapidly changing its size and position. In accord with previous investigators, we find the cavitation threshold lower in He I than in He II. In He I, the detached bubbles last longer than one camera frame (10 ms), while in He II the cavitation bubbles do not tear off from the surface of the fork up to the highest attainable drive. [ABSTRACT FROM AUTHOR]