WANDA: Scaling Massive Robot Trajectories from a Single Demo
chris_j_paxton · x · 2026-07-15
The reality of mobile manipulation is that 1,000 demonstrations might only be enough for 1 task and 1 scene. The post introduces WANDA, a synthetic data engine designed to scale 1 demo into tens of thousands of trajectories covering unseen scenarios, enabling policies to work in the open world.
The core takeaways are:
- Real demonstration data is extremely expensive and lacks sufficient coverage in mobile manipulation
- WANDA amplifies the value of a single demonstration through synthetic trajectory generation
- The focus isn't on reproducing a single scenario, but on improving the policy's ability to generalize to the open world
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