Lifelong Embodied Navigation on LENL (test)

100S1 Success RateSeq-FT (sequential fine-tuning)

Evaluation results

Method
Seq-FT (sequential fine-tuning)2026.03	100	100	100	97	96	100	97	88	88	92	86	72	88	79	0	100	100	100	88
LwF-LoRA2026.03	100	100	100	100	96	100	97	87	90	95	90	61	57	58	0	100	100	100	85
EWC-LoRA2026.03	100	97	100	94	100	100	100	88	88	97	93	54	61	47	0	100	100	100	84
Dense MoLE2026.03	97	97	97	94	92	100	97	88	85	84	83	63	57	30	0	98	100	96	81
Sparse MoLE2026.03	97	97	100	85	96	100	85	85	77	79	83	56	60	26	0	100	97	100	79
MoLA2026.03	94	91	100	91	96	90	82	86	75	85	75	57	57	24	0	93	91	100	77
HydraLoRA2026.03	88	85	81	80	96	81	82	81	85	84	73	61	56	22	0	85	84	79	72
BranchLoRA2026.03	88	85	79	77	92	77	78	78	72	79	69	53	51	38	0	84	85	77	70
Uni-Walker2026.03	82	87	88	67	90	90	72	83	63	73	62	84	100	78	100	84	76	79	81
O-LoRA2026.03	76	81	80	64	82	82	71	82	67	70	62	86	98	80	100	77	68	69	77
SD-LoRA2026.03	76	82	85	66	88	84	76	85	67	72	66	85	98	81	100	79	68	71	79
O-LoRA2026.03	56	52	48	31	50	54	51	58	53	55	41	54	23	17	0	65	53	35	44
SD-LoRA2026.03	53	49	45	46	50	50	47	55	51	52	37	54	21	16	0	58	56	13	42
BranchLoRA2026.03	32	29	23	26	24	26	28	36	26	31	46	51	88	73	100	33	30	31	41
HydraLoRA2026.03	27	25	21	25	20	25	24	36	22	27	46	48	72	68	100	29	26	22	37
MoLA2026.03	26	24	16	24	19	23	25	37	21	29	45	48	69	73	100	28	22	26	36
Sparse MoLE2026.03	23	23	19	25	19	21	23	36	19	26	40	47	69	72	100	25	26	18	35
Dense MoLE2026.03	21	22	18	23	16	18	19	31	16	33	41	48	69	68	100	22	20	17	33
EWC-LoRA2026.03	13	15	16	15	15	16	15	29	15	34	36	46	56	52	100	16	18	17	29
Seq-FT (sequential fine-tuning)2026.03	12	12	14	16	18	16	17	19	16	18	15	35	36	36	100	16	15	15	24
LwF-LoRA2026.03	12	15	16	15	13	15	16	29	16	32	32	45	55	51	100	13	15	16	28
Uni-Walker2026.03	3	3	5	6	6	4	6	13	6	4	5	11	5	3	0	22	19	8	7