mlsanityData to 7 Oct 2026

EMMA: Scaling Mobile Manipulation via Egocentric Human Data

arXiv 2509.04443 ↗First posted 4 Sep 2025cs.ROcited by 20

On the map: Offline RL and imitation learning from data → Robot manipulation imitation learning

Abstract (arXiv)

Scaling mobile manipulation imitation learning is bottlenecked by expensive mobile robot teleoperation. We present Egocentric Mobile MAnipulation (EMMA), an end-to-end framework training mobile manipulation policies from human mobile manipulation data with static robot data, sidestepping mobile teleoperation. To accomplish this, we co-train human full-body motion data with static robot data. In our experiments across three real-world tasks, EMMA demonstrates comparable performance to baselines trained on teleoperated mobile robot data (Mobile ALOHA), achieving higher or equivalent task performance in full task success. We find that EMMA is able to generalize to new spatial configurations and scenes, and we observe positive performance scaling as we increase the hours of human data, opening new avenues for scalable robotic learning in real-world environments. Details of this project can be found at https://ego-moma.github.io/.

Key facts. Cited by 20 papers in the map (data through 7 Oct 2026). Placed in Robot manipulation imitation learning, one of 13 directions in Offline RL and imitation learning from data. First posted on arXiv 4 Sep 2025.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 4; 2026: 16.

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  1. 2026StarVLA: A Lego-like Codebase for Vision-Language-Action Model Developingcited by 103
  2. 2026Being-H0.7: A Latent World-Action Model from Egocentric Videoscited by 68
  3. 2026Being-H0.5: Scaling Human-Centric Robot Learning for Cross-Embodiment Generalizationcited by 61
  4. 2026EgoVerse: An Egocentric Human Dataset for Robot Learning from Around the Worldcited by 49
  5. 2025Emergence of Human to Robot Transfer in Vision-Language-Action Modelscited by 36
  6. 2025In-N-On: Scaling Egocentric Manipulation with in-the-wild and on-task Datacited by 21
  7. 2025ActiveUMI: Robotic Manipulation with Active Perception from Robot-Free Human Demonstrationscited by 17
  8. 2026HumanEgo: Zero-Shot Robot Learning from Minutes of Human Egocentric Videoscited by 14
  9. 2025OPENTOUCH: Bringing Full-Hand Touch to Real-World Interactioncited by 11
  10. 2026ACE-Ego-0: Unifying Egocentric Human and Robotic Data for VLA Pretrainingcited by 8
  11. 2026ActiveMimic: Egocentric Video Pretraining with Active Perceptioncited by 4
  12. 2026From Human Videos to Robot Manipulation: A Survey on Scalable Vision-Language-Action Learning with Human-Centric Datacited by 3
8 more
  1. 2026StableHand: Quality-Aware Flow Matching for World-Space Dual-Hand Motion Estimation from Egocentric Videocited by 2
  2. 2026Translation as a Bridging Action: Transferring Manipulation Skills from Humans to Robotscited by 1
  3. 2026OmniTacTune: Policy-Agnostic Real-World RL for Tactile Residual Adaptation of Visual Policiescited by 1
  4. 2026RoSHI: A Versatile Robot-oriented Suit for Human Data In-the-Wildcited by 0
  5. 2026EgoRecovery: Acquiring Failure Recovery Ability Through Human Recovery Demonstrationcited by 0
  6. 2026ACE-Data-0: Human-Centric Ambient Capture as Embodied Data Enginecited by 0
  7. 2026HiPHI: A Large-Scale Benchmark for High-Precision Human Motion and Object-Interactioncited by 0
  8. 2026UniWAM Technical Report: Unified Mobile Manipulation via Mixed-Stream World-Action Modeling and Manipulation Anchor Pose Supervisioncited by 0

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  1. 2024EgoMimic: Scaling Imitation Learning via Egocentric Video
  2. 2026Wh0: Generative World Models as Scalable Sources of Egocentric Human Hand Manipulation Data
  3. 2026EgoScale: Scaling Dexterous Manipulation with Diverse Egocentric Human Data
  4. 2021Error-Aware Imitation Learning from Teleoperation Data for Mobile Manipulation
  5. 2025HoMeR: Learning In-the-Wild Mobile Manipulation via Hybrid Imitation and Whole-Body Control
  6. 2026Open-AoE: An Open Egocentric Manipulation Dataset and Toolchain for Embodied Learning
  7. 2025MobRT: A Digital Twin-Based Framework for Scalable Learning in Mobile Manipulation
  8. 2026EgoSteer: An Open-Source Full-Stack System Towards Steerable Dexterous Manipulation from Egocentric Videos