# Learning to Prompt for Continual Learning

arXiv: https://arxiv.org/abs/2112.08654 · HTML: https://mlsanity.com/paper/2112.08654/

## Key facts

- Cited by 944 papers in the map (data through 14 Oct 2026).
- Builds on 48 of its 68 references that are in the map.
- First posted on arXiv 16 Dec 2021.

## Builds on (most cited first, 30 of 48)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [Exploring the Limits of Transfer Learning with a Unified Text-to-Text Transformer](https://mlsanity.com/paper/1910.10683/) (2019)
- [LoRA: Low-Rank Adaptation of Large Language Models](https://mlsanity.com/paper/2106.09685/) (2021)
- [Towards Deep Learning Models Resistant to Adversarial Attacks](https://mlsanity.com/paper/1706.06083/) (2017)
- [Overcoming catastrophic forgetting in neural networks](https://mlsanity.com/paper/1612.00796/) (2016)
- [Neural Discrete Representation Learning](https://mlsanity.com/paper/1711.00937/) (2017)
- [Fashion-MNIST: a Novel Image Dataset for Benchmarking Machine Learning Algorithms](https://mlsanity.com/paper/1708.07747/) (2017)
- [Prefix-Tuning: Optimizing Continuous Prompts for Generation](https://mlsanity.com/paper/2101.00190/) (2021)
- [The Power of Scale for Parameter-Efficient Prompt Tuning](https://mlsanity.com/paper/2104.08691/) (2021)
- [Learning without Forgetting](https://mlsanity.com/paper/1606.09282/) (2016)
- [iCaRL: Incremental Classifier and Representation Learning](https://mlsanity.com/paper/1611.07725/) (2016)
- [Pre-train, Prompt, and Predict: A Systematic Survey of Prompting Methods in Natural Language Processing](https://mlsanity.com/paper/2107.13586/) (2021)
- [A Survey on Bias and Fairness in Machine Learning](https://mlsanity.com/paper/1908.09635/) (2019)
- [Gradient Episodic Memory for Continual Learning](https://mlsanity.com/paper/1706.08840/) (2017)
- [Progressive Neural Networks](https://mlsanity.com/paper/1606.04671/) (2016)
- [Continual Lifelong Learning with Neural Networks: A Review](https://mlsanity.com/paper/1802.07569/) (2018)
- [Memory Aware Synapses: Learning what (not) to forget](https://mlsanity.com/paper/1711.09601/) (2017)
- [Efficient Lifelong Learning with A-GEM](https://mlsanity.com/paper/1812.00420/) (2018)
- [Dark Experience for General Continual Learning: a Strong, Simple Baseline](https://mlsanity.com/paper/2004.07211/) (2020)
- [PackNet: Adding Multiple Tasks to a Single Network by Iterative Pruning](https://mlsanity.com/paper/1711.05769/) (2017)
- [AdapterFusion: Non-Destructive Task Composition for Transfer Learning](https://mlsanity.com/paper/2005.00247/) (2020)
- [Riemannian Walk for Incremental Learning: Understanding Forgetting and Intransigence](https://mlsanity.com/paper/1801.10112/) (2018)
- [Large Scale Incremental Learning](https://mlsanity.com/paper/1905.13260/) (2019)
- [Lifelong Learning with Dynamically Expandable Networks](https://mlsanity.com/paper/1708.01547/) (2017)
- [Overcoming catastrophic forgetting with hard attention to the task](https://mlsanity.com/paper/1801.01423/) (2018)
- [Three scenarios for continual learning](https://mlsanity.com/paper/1904.07734/) (2019)
- [A Survey of Deep Learning Techniques for Autonomous Driving](https://mlsanity.com/paper/1910.07738/) (2019)
- [DER: Dynamically Expandable Representation for Class Incremental Learning](https://mlsanity.com/paper/2103.16788/) (2021)

## Built on by (most cited first, 30 of 944)

- [Visual Prompt Tuning](https://mlsanity.com/paper/2203.12119/) (2022)
- [Few-Shot Parameter-Efficient Fine-Tuning is Better and Cheaper than In-Context Learning](https://mlsanity.com/paper/2205.05638/) (2022)
- [A Comprehensive Survey of Continual Learning: Theory, Method and Application](https://mlsanity.com/paper/2302.00487/) (2023)
- [MaPLe: Multi-modal Prompt Learning](https://mlsanity.com/paper/2210.03117/) (2022)
- [Parameter-Efficient Fine-Tuning for Large Models: A Comprehensive Survey](https://mlsanity.com/paper/2403.14608/) (2024)
- [DualPrompt: Complementary Prompting for Rehearsal-free Continual Learning](https://mlsanity.com/paper/2204.04799/) (2022)
- [CODA-Prompt: COntinual Decomposed Attention-based Prompting for Rehearsal-Free Continual Learning](https://mlsanity.com/paper/2211.13218/) (2022)
- [Test-Time Prompt Tuning for Zero-Shot Generalization in Vision-Language Models](https://mlsanity.com/paper/2209.07511/) (2022)
- [Orthogonal Subspace Learning for Language Model Continual Learning](https://mlsanity.com/paper/2310.14152/) (2023)
- [X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model](https://mlsanity.com/paper/2510.10274/) (2025)
- [A Survey on Knowledge Distillation of Large Language Models](https://mlsanity.com/paper/2402.13116/) (2024)
- [Self-regulating Prompts: Foundational Model Adaptation without Forgetting](https://mlsanity.com/paper/2307.06948/) (2023)
- [Aging with GRACE: Lifelong Model Editing with Discrete Key-Value Adaptors](https://mlsanity.com/paper/2211.11031/) (2022)
- [S-Prompts Learning with Pre-trained Transformers: An Occam's Razor for Domain Incremental Learning](https://mlsanity.com/paper/2207.12819/) (2022)
- [Continual Learning of Large Language Models: A Comprehensive Survey](https://mlsanity.com/paper/2404.16789/) (2024)
- [Class-Incremental Learning: A Survey](https://mlsanity.com/paper/2302.03648/) (2023)
- [InfLoRA: Interference-Free Low-Rank Adaptation for Continual Learning](https://mlsanity.com/paper/2404.00228/) (2024)
- [Revisiting Class-Incremental Learning with Pre-Trained Models: Generalizability and Adaptivity are All You Need](https://mlsanity.com/paper/2303.07338/) (2023)
- [Conditional Image-to-Video Generation with Latent Flow Diffusion Models](https://mlsanity.com/paper/2303.13744/) (2023)
- [RSPrompter: Learning to Prompt for Remote Sensing Instance Segmentation based on Visual Foundation Model](https://mlsanity.com/paper/2306.16269/) (2023)
- [SLCA: Slow Learner with Classifier Alignment for Continual Learning on a Pre-trained Model](https://mlsanity.com/paper/2303.05118/) (2023)
- [TEMPO: Prompt-based Generative Pre-trained Transformer for Time Series Forecasting](https://mlsanity.com/paper/2310.04948/) (2023)
- [One-Dimensional Adapter to Rule Them All: Concepts, Diffusion Models and Erasing Applications](https://mlsanity.com/paper/2312.16145/) (2023)
- [RanPAC: Random Projections and Pre-trained Models for Continual Learning](https://mlsanity.com/paper/2307.02251/) (2023)
- [Continual Learning with Pre-Trained Models: A Survey](https://mlsanity.com/paper/2401.16386/) (2024)
- [Continual Diffusion: Continual Customization of Text-to-Image Diffusion with C-LoRA](https://mlsanity.com/paper/2304.06027/) (2023)
- [A Unified Continual Learning Framework with General Parameter-Efficient Tuning](https://mlsanity.com/paper/2303.10070/) (2023)
- [Multimodal Prompting with Missing Modalities for Visual Recognition](https://mlsanity.com/paper/2303.03369/) (2023)
- [Hierarchical Decomposition of Prompt-Based Continual Learning: Rethinking Obscured Sub-optimality](https://mlsanity.com/paper/2310.07234/) (2023)
- [Expandable Subspace Ensemble for Pre-Trained Model-Based Class-Incremental Learning](https://mlsanity.com/paper/2403.12030/) (2024)

## Abstract (arXiv)

The mainstream paradigm behind continual learning has been to adapt the model parameters to non-stationary data distributions, where catastrophic forgetting is the central challenge. Typical methods rely on a rehearsal buffer or known task identity at test time to retrieve learned knowledge and address forgetting, while this work presents a new paradigm for continual learning that aims to train a more succinct memory system without accessing task identity at test time. Our method learns to dynamically prompt (L2P) a pre-trained model to learn tasks sequentially under different task transitions. In our proposed framework, prompts are small learnable parameters, which are maintained in a memory space. The objective is to optimize prompts to instruct the model prediction and explicitly manage task-invariant and task-specific knowledge while maintaining model plasticity. We conduct comprehensive experiments under popular image classification benchmarks with different challenging continual learning settings, where L2P consistently outperforms prior state-of-the-art methods. Surprisingly, L2P achieves competitive results against rehearsal-based methods even without a rehearsal buffer and is directly applicable to challenging task-agnostic continual learning. Source code is available at https://github.com/google-research/l2p.