World In Your Hands: A Large-Scale and Open-Source Ecosystem for Learning Human-Centric Manipulation in the Wild

Abstract: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.

Robotics (cs.RO)

arXiv:2512.24310 [cs.RO]

(or arXiv:2512.24310v4 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2512.24310 Focus to learn more arXiv-issued DOI via DataCite

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