Lifelong robotic skill learning on MimicGen Lifelong tasks
89Forward Transfer (FWT)LoRA
Evaluation results
| Method | Links | ||
|---|---|---|---|
| LoRACategory=Adapter-based Methods, Task=Task 12025.04 | 89 | — | |
| PPLCategory=Adapter-based Methods, Task=Task 12025.04 | 88 | — | |
| SequentialCategory=Conventional Methods, Task=Task 12025.04 | 87 | — | |
| PPLCategory=Adapter-based Methods, Task=Task 32025.04 | 83 | — | |
| PPLCategory=Adapter-based Methods, Task=Average2025.04 | 83 | — | |
| LoRACategory=Adapter-based Methods, Task=Task 32025.04 | 81 | — | |
| SequentialCategory=Conventional Methods, Task=Task 32025.04 | 79 | -0.48 | |
| ERCategory=Conventional Methods, Task=Task 12025.04 | 79 | — | |
| LoRACategory=Adapter-based Methods, Task=Task 22025.04 | 79 | — | |
| PPLCategory=Adapter-based Methods, Task=Task 42025.04 | 79 | — | |
| LoRACategory=Adapter-based Methods, Task=Task 42025.04 | 78 | — | |
| LoRACategory=Adapter-based Methods, Task=Average2025.04 | 78 | — | |
| SequentialCategory=Conventional Methods, Task=Task 42025.04 | 77 | -0.62 | |
| PPLCategory=Adapter-based Methods, Task=Task 22025.04 | 75 | — | |
| SequentialCategory=Conventional Methods, Task=Task 22025.04 | 73 | -0.57 | |
| PPLCategory=Adapter-based Methods, Task=Task 62025.04 | 73 | — | |
| ERCategory=Conventional Methods, Task=Task 22025.04 | 71 | -0.23 | |
| ERCategory=Conventional Methods, Task=Task 32025.04 | 67 | -0.37 | |
| SequentialCategory=Conventional Methods, Task=Average2025.04 | 65 | -0.56 | |
| SequentialCategory=Conventional Methods, Task=Task 62025.04 | 64 | -0.66 | |
| ERCategory=Conventional Methods, Task=Task 42025.04 | 64 | -0.44 | |
| LoRACategory=Adapter-based Methods, Task=Task 52025.04 | 62 | — | |
| ERCategory=Conventional Methods, Task=Average2025.04 | 61 | -0.46 | |
| LoRACategory=Adapter-based Methods, Task=Task 62025.04 | 61 | — | |
| PPLCategory=Adapter-based Methods, Task=Task 52025.04 | 60 | — | |
| PPLCategory=Adapter-based Methods, Task=Task 72025.04 | 54 | — | |
| ERCategory=Conventional Methods, Task=Task 62025.04 | 52 | -0.61 | |
| SequentialCategory=Conventional Methods, Task=Task 52025.04 | 49 | -0.69 | |
| LoRACategory=Adapter-based Methods, Task=Task 72025.04 | 43 | — | |
| ERCategory=Conventional Methods, Task=Task 52025.04 | 35 | -0.57 | |
| SequentialCategory=Conventional Methods, Task=Task 72025.04 | 32 | -0.69 | |
| ERCategory=Conventional Methods, Task=Task 72025.04 | 11 | -0.58 |