Episode 34: In-N-On: Scaling Egocentric Manipulation with In-the-Wild and On-Task Data

**Introduction.** Foundation models for robot manipulation have begun leveraging **egocentric human demonstration data** as a rich resource for learning complex skills. However, human video data varies widely in context and format, making it challenging to directly use at scale. The paper _“In-N-On: Scaling Egocentric Manipulation with in-the-wild and on-task Data”_ tackles this by **strategically splitting human egocentric data into two categories** – **in-the-wild** (unconstrained human act...

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