We introduce World In Your Hands (WIYH), a large-scale open-source ecosystem comprising over 1,000 hours of human manipulation data collected in-the-wild with millimeter-scale motion accuracy. Specifically, WIYH includes (1) the Oracle Suite, a wearable data collection kit with an auto-labeling pipeline for accurate motion capture; (2) the WIYH Dataset, featuring over 1,000 hours of multimodal manipulation data across hundreds of skills in diverse real-world scenarios; and (3) extensive annotations and benchmarks supporting tasks from perception to action. Furthermore, experiments based on the WIYH ecosystem show that integrating WIYH's human-centric data improves robotic manipulation success rates from 8% to 60% in cluttered scenes. World In Your Hands provides a foundation for advancing human-centric data collection and cross-embodiment policy learning. All data and hardware design will be open-source.
@article{arxiv.2512.24310,
title = {World In Your Hands: A Large-Scale and Open-Source Ecosystem for Learning Human-Centric Manipulation in the Wild},
author = {Yupeng Zheng and Jichao Peng and Weize Li and Yuhang Zheng and Xiang Li and Yujie Jin and Julong Wei and Guanhua Zhang and Ruiling Zheng and Ming Cao and Songen Gu and Zhenhong Zou and Kaige Li and Ke Wu and Mingmin Yang and Jiahao Liu and Pengfei Li and Hengjie Si and Feiyu Zhu and Wang Fu and Likun Wang and Ruiwen Yao and Jieru Zhao and Yilun Chen and Wenchao Ding},
journal= {arXiv preprint arXiv:2512.24310},
year = {2026}
}
Comments
This dataset represents the first large-scale collection of real-world, human-centric multimodal data integrating vision, language, tactile sensing, and action (VLTA) Github: https://github.com/tars-robotics/World-In-Your-Hands