Watched the video. Seems like someone asked a question redarding this specific term, but either he hasnt read the book or he really understood it differrently than me.

From my understanding the term is the opposite of some of the problems we face in struggle, when meetings get stale, when we just go through the motions, when instead of really learning from each other we judge & police each other. And that doesn't mean fun, easy or no risk, instead joyful stands for feeling alive in all possible ways, truly connected to you comrades, actually experiencing how the struggle might liberate us. And militancy doesnt just mean violent, but instead a fierce and steadfast opposition against the system.

When I read the book I really related with some of the points there, so I think its worth reading if like the kinda "intellectual" style it has.