World In Your Hands (WIYH)

TARS Robotics's open-source dataset of over a thousand hours of real-world human manipulation, with vision, language, touch, and action.

World In Your Hands (WIYH) was released by TARS Robotics (它石智航) in October 2025, formally open-sourced on December 26, with the paper posted to arXiv in December 2025. Its focus is “human-centered”: rather than using a robot to collect data, people wear the company's own capture kit (called the Oracle Suite in the paper; the commercial version is called SenseHub) while working in real settings like factories, supermarkets, hotels, and restaurants, paired with an automatic annotation pipeline that produces millimeter-accurate ground-truth motion. The total is over 1,000 hours, covering hundreds of skills. The data includes multi-view images, camera calibration parameters, depth maps, 3D hand pose, 6D wrist trajectories, and task annotations; the company describes it as the first large-scale real-world vision-language-tactile-action (VLTA) dataset. The paper reports that adding WIYH's human data to training raised robot manipulation success in cluttered scenes from 8% to 60%.

ExampleTARS trained its own AWE model on WIYH data, and demonstrated a robot capable of embroidery at its technology debut event.

Related

Wearable Data Collection · Robot-free (Embodiment-free) Data Collection · Human Video Data · Tactile Data · TARS Robotics · Multimodal Data

Sources

arXiv 2512.24310: World In Your Hands
全球首个真实世界具身多模态数据集，它石智航交卷（量子位 / 新浪财经，2025-10） (Chinese)

As of

2026-09