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Main Authors: Zheng, Yupeng, Peng, Jichao, Li, Weize, Zheng, Yuhang, Li, Xiang, Jin, Yujie, Wei, Julong, Zhang, Guanhua, Zheng, Ruiling, Cao, Ming, Gu, Songen, Zou, Zhenhong, Li, Kaige, Wu, Ke, Yang, Mingmin, Liu, Jiahao, Li, Pengfei, Si, Hengjie, Zhu, Feiyu, Fu, Wang, Wang, Likun, Yao, Ruiwen, Zhao, Jieru, Chen, Yilun, Ding, Wenchao
Format: Preprint
Published: 2025
Subjects:
Robotics
Online Access:https://arxiv.org/abs/2512.24310
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Table of Contents:
  • 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.

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