{"ID":2824058,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.24310","arxiv_id":"2512.24310","title":"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.","short_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 mo...","url_abs":"https://arxiv.org/abs/2512.24310","url_pdf":"https://arxiv.org/pdf/2512.24310v3","authors":"[\"Yupeng Zheng\",\"Jichao Peng\",\"Weize Li\",\"Yuhang Zheng\",\"Xiang Li\",\"Yujie Jin\",\"Julong Wei\",\"Guanhua Zhang\",\"Ruiling Zheng\",\"Ming Cao\",\"Songen Gu\",\"Zhenhong Zou\",\"Kaige Li\",\"Ke Wu\",\"Mingmin Yang\",\"Jiahao Liu\",\"Pengfei Li\",\"Hengjie Si\",\"Feiyu Zhu\",\"Wang Fu\",\"Likun Wang\",\"Ruiwen Yao\",\"Jieru Zhao\",\"Yilun Chen\",\"Wenchao Ding\"]","published":"2025-12-30T16:06:29Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}