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

arXiv: https://arxiv.org/abs/2512.24310 · HTML: https://mlsanity.com/paper/2512.24310/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 30 Dec 2025.

## Built on by (most cited first, 3 of 3)

- [The Potential of Haptic Foundation Models](https://mlsanity.com/paper/2608.28664/) (2026)
- [WLA3: World Latent Action Modeling for Semantics, Dynamics, and Kinematics](https://mlsanity.com/paper/2609.15870/) (2026)
- [TouchScale: 500 Hours of Human Vision and Touch for Visual-Tactile Learning](https://mlsanity.com/paper/2610.10288/) (2026)

## Abstract (arXiv)

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.