# Lifelong robotic skill learning on MimicGen Lifelong tasks Source: [Lifelong robotic skill learning on MimicGen Lifelong tasks]() Collection index: [llms.txt]() Data updated: 2026-02-26T05:45:31.090Z Evaluation of continual learning performance on the MimicGen Lifelong tasks dataset, measured by Forward Transfer (FWT) and Backward Transfer (BWT). A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | Lifelong robotic skill learning | | Dataset (including any stated split) | MimicGen Lifelong tasks | | Metric | Forward Transfer (FWT) | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 32 of 32 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [Forward Transfer (FWT)](): Higher is better; unit: PERCENT. - [Backward Transfer (BWT)](): Higher is better; unit: PERCENT. ## Recorded results | Method | Forward Transfer (FWT) | Result date | Report paper | | --- | --- | --- | --- | | LoRA | 89 | Not recorded | 68fa790a1e209131cea7bd7f | | PPL | 88 | Not recorded | 68fa790a1e209131cea7bd7f | | Sequential | 87 | Not recorded | 68fa790a1e209131cea7bd7f | | PPL | 83 | Not recorded | 68fa790a1e209131cea7bd7f | | PPL | 83 | Not recorded | 68fa790a1e209131cea7bd7f | | LoRA | 81 | Not recorded | 68fa790a1e209131cea7bd7f | | Sequential | 79 | Not recorded | 68fa790a1e209131cea7bd7f | | ER | 79 | Not recorded | 68fa790a1e209131cea7bd7f | | LoRA | 79 | Not recorded | 68fa790a1e209131cea7bd7f | | PPL | 79 | Not recorded | 68fa790a1e209131cea7bd7f | | LoRA | 78 | Not recorded | 68fa790a1e209131cea7bd7f | | LoRA | 78 | Not recorded | 68fa790a1e209131cea7bd7f | | Sequential | 77 | Not recorded | 68fa790a1e209131cea7bd7f | | PPL | 75 | Not recorded | 68fa790a1e209131cea7bd7f | | Sequential | 73 | Not recorded | 68fa790a1e209131cea7bd7f | | PPL | 73 | Not recorded | 68fa790a1e209131cea7bd7f | | ER | 71 | Not recorded | 68fa790a1e209131cea7bd7f | | ER | 67 | Not recorded | 68fa790a1e209131cea7bd7f | | Sequential | 65 | Not recorded | 68fa790a1e209131cea7bd7f | | Sequential | 64 | Not recorded | 68fa790a1e209131cea7bd7f | | ER | 64 | Not recorded | 68fa790a1e209131cea7bd7f | | LoRA | 62 | Not recorded | 68fa790a1e209131cea7bd7f | | ER | 61 | Not recorded | 68fa790a1e209131cea7bd7f | | LoRA | 61 | Not recorded | 68fa790a1e209131cea7bd7f | | PPL | 60 | Not recorded | 68fa790a1e209131cea7bd7f | | PPL | 54 | Not recorded | 68fa790a1e209131cea7bd7f | | ER | 52 | Not recorded | 68fa790a1e209131cea7bd7f | | Sequential | 49 | Not recorded | 68fa790a1e209131cea7bd7f | | LoRA | 43 | Not recorded | 68fa790a1e209131cea7bd7f | | ER | 35 | Not recorded | 68fa790a1e209131cea7bd7f | | Sequential | 32 | Not recorded | 68fa790a1e209131cea7bd7f | | ER | 11 | Not recorded | 68fa790a1e209131cea7bd7f | ### LoRA Forward Transfer (FWT): 89. Result ID: 6995c0023badfaffe6c26052. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Category":"Adapter-based Methods","Task":"Task 1"}. This record does not assert independent reproduction. ### PPL Forward Transfer (FWT): 88. Result ID: 6995c0023badfaffe6c2605a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Category":"Adapter-based Methods","Task":"Task 1"}. This record does not assert independent reproduction. ### Sequential Forward Transfer (FWT): 87. Result ID: 6995c0023badfaffe6c26042. [Reporting paper]() Recorded evaluation configuration: {"Category":"Conventional Methods","Task":"Task 1"}. This record does not assert independent reproduction. ### PPL Forward Transfer (FWT): 83. Result ID: 6995c0023badfaffe6c2605c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Category":"Adapter-based Methods","Task":"Task 3"}. This record does not assert independent reproduction. ### PPL Forward Transfer (FWT): 83. Result ID: 6995c0023badfaffe6c26061. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Category":"Adapter-based Methods","Task":"Average"}. This record does not assert independent reproduction. ### LoRA Forward Transfer (FWT): 81. Result ID: 6995c0023badfaffe6c26054. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Category":"Adapter-based Methods","Task":"Task 3"}. This record does not assert independent reproduction. ### Sequential Forward Transfer (FWT): 79. Result ID: 6995c0023badfaffe6c26044. [Reporting paper]() Recorded evaluation configuration: {"Category":"Conventional Methods","Task":"Task 3"}. This record does not assert independent reproduction. ### ER Forward Transfer (FWT): 79. Result ID: 6995c0023badfaffe6c2604a. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Category":"Conventional Methods","Task":"Task 1"}. This record does not assert independent reproduction. ### LoRA Forward Transfer (FWT): 79. Result ID: 6995c0023badfaffe6c26053. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Category":"Adapter-based Methods","Task":"Task 2"}. This record does not assert independent reproduction. ### PPL Forward Transfer (FWT): 79. Result ID: 6995c0023badfaffe6c2605d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Category":"Adapter-based Methods","Task":"Task 4"}. This record does not assert independent reproduction. ### LoRA Forward Transfer (FWT): 78. Result ID: 6995c0023badfaffe6c26055. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Category":"Adapter-based Methods","Task":"Task 4"}. This record does not assert independent reproduction. ### LoRA Forward Transfer (FWT): 78. Result ID: 6995c0023badfaffe6c26059. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Category":"Adapter-based Methods","Task":"Average"}. This record does not assert independent reproduction. ### Sequential Forward Transfer (FWT): 77. Result ID: 6995c0023badfaffe6c26045. [Reporting paper]() Recorded evaluation configuration: {"Category":"Conventional Methods","Task":"Task 4"}. This record does not assert independent reproduction. ### PPL Forward Transfer (FWT): 75. Result ID: 6995c0023badfaffe6c2605b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Category":"Adapter-based Methods","Task":"Task 2"}. This record does not assert independent reproduction. ### Sequential Forward Transfer (FWT): 73. Result ID: 6995c0023badfaffe6c26043. [Reporting paper]() Recorded evaluation configuration: {"Category":"Conventional Methods","Task":"Task 2"}. This record does not assert independent reproduction. ### PPL Forward Transfer (FWT): 73. Result ID: 6995c0023badfaffe6c2605f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Category":"Adapter-based Methods","Task":"Task 6"}. This record does not assert independent reproduction. ### ER Forward Transfer (FWT): 71. Result ID: 6995c0023badfaffe6c2604b. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Category":"Conventional Methods","Task":"Task 2"}. This record does not assert independent reproduction. ### ER Forward Transfer (FWT): 67. Result ID: 6995c0023badfaffe6c2604c. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Category":"Conventional Methods","Task":"Task 3"}. This record does not assert independent reproduction. ### Sequential Forward Transfer (FWT): 65. Result ID: 6995c0023badfaffe6c26049. [Reporting paper]() Recorded evaluation configuration: {"Category":"Conventional Methods","Task":"Average"}. This record does not assert independent reproduction. ### Sequential Forward Transfer (FWT): 64. Result ID: 6995c0023badfaffe6c26047. [Reporting paper]() Recorded evaluation configuration: {"Category":"Conventional Methods","Task":"Task 6"}. This record does not assert independent reproduction. ### ER Forward Transfer (FWT): 64. Result ID: 6995c0023badfaffe6c2604d. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Category":"Conventional Methods","Task":"Task 4"}. This record does not assert independent reproduction. ### LoRA Forward Transfer (FWT): 62. Result ID: 6995c0023badfaffe6c26056. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Category":"Adapter-based Methods","Task":"Task 5"}. This record does not assert independent reproduction. ### ER Forward Transfer (FWT): 61. Result ID: 6995c0023badfaffe6c26051. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Category":"Conventional Methods","Task":"Average"}. This record does not assert independent reproduction. ### LoRA Forward Transfer (FWT): 61. Result ID: 6995c0023badfaffe6c26057. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Category":"Adapter-based Methods","Task":"Task 6"}. This record does not assert independent reproduction. ### PPL Forward Transfer (FWT): 60. Result ID: 6995c0023badfaffe6c2605e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Category":"Adapter-based Methods","Task":"Task 5"}. This record does not assert independent reproduction. ### PPL Forward Transfer (FWT): 54. Result ID: 6995c0023badfaffe6c26060. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Category":"Adapter-based Methods","Task":"Task 7"}. This record does not assert independent reproduction. ### ER Forward Transfer (FWT): 52. Result ID: 6995c0023badfaffe6c2604f. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Category":"Conventional Methods","Task":"Task 6"}. This record does not assert independent reproduction. ### Sequential Forward Transfer (FWT): 49. Result ID: 6995c0023badfaffe6c26046. [Reporting paper]() Recorded evaluation configuration: {"Category":"Conventional Methods","Task":"Task 5"}. This record does not assert independent reproduction. ### LoRA Forward Transfer (FWT): 43. Result ID: 6995c0023badfaffe6c26058. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Category":"Adapter-based Methods","Task":"Task 7"}. This record does not assert independent reproduction. ### ER Forward Transfer (FWT): 35. Result ID: 6995c0023badfaffe6c2604e. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Category":"Conventional Methods","Task":"Task 5"}. This record does not assert independent reproduction. ### Sequential Forward Transfer (FWT): 32. Result ID: 6995c0023badfaffe6c26048. [Reporting paper]() Recorded evaluation configuration: {"Category":"Conventional Methods","Task":"Task 7"}. This record does not assert independent reproduction. ### ER Forward Transfer (FWT): 11. Result ID: 6995c0023badfaffe6c26050. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Category":"Conventional Methods","Task":"Task 7"}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.