World In Your Hands：一个用于学习野外以人为中心操作的大规模开源生态系统
机器人学
2026-03-17 v3
摘要
我们介绍了World In Your Hands（WIYH），这是一个大规模的开源生态系统，包含超过1000小时在野外采集的、具有毫米级运动精度的人类操作数据。具体而言，WIYH包括：（1）Oracle Suite，一个可穿戴数据采集套件，配备用于精确动作捕捉的自动标注流程；（2）WIYH数据集，包含超过1000小时的多模态操作数据，涵盖数百种技能和多样化的真实世界场景；（3）广泛的标注和基准，支持从感知到动作的任务。此外，基于WIYH生态系统的实验表明，整合WIYH的以人为中心的数据，将机器人在杂乱场景中的操作成功率从8%提高到60%。World In Your Hands为推进以人为中心的数据采集和跨具身策略学习奠定了基础。所有数据和硬件设计都将开源。
引用
@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}
}
备注
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