# Task-agnostic Lifelong Robot Learning with Retrieval-based Weighted Local Adaptation

arXiv: https://arxiv.org/abs/2410.02995 · HTML: https://mlsanity.com/paper/2410.02995/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 53 of its 75 references that are in the map.
- First posted on arXiv 3 Oct 2024.

## Builds on (most cited first, 30 of 53)

- [Model-Agnostic Meta-Learning for Fast Adaptation of Deep Networks](https://mlsanity.com/paper/1703.03400/) (2017)
- [Overcoming catastrophic forgetting in neural networks](https://mlsanity.com/paper/1612.00796/) (2016)
- [Voyager: An Open-Ended Embodied Agent with Large Language Models](https://mlsanity.com/paper/2305.16291/) (2023)
- [LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learning](https://mlsanity.com/paper/2306.03310/) (2023)
- [Memory Aware Synapses: Learning what (not) to forget](https://mlsanity.com/paper/1711.09601/) (2017)
- [PackNet: Adding Multiple Tasks to a Single Network by Iterative Pruning](https://mlsanity.com/paper/1711.05769/) (2017)
- [A Comprehensive Survey of Continual Learning: Theory, Method and Application](https://mlsanity.com/paper/2302.00487/) (2023)
- [What Matters in Learning from Offline Human Demonstrations for Robot Manipulation](https://mlsanity.com/paper/2108.03298/) (2021)
- [R3M: A Universal Visual Representation for Robot Manipulation](https://mlsanity.com/paper/2203.12601/) (2022)
- [Gradient based sample selection for online continual learning](https://mlsanity.com/paper/1903.08671/) (2019)
- [Learning to Adapt in Dynamic, Real-World Environments Through Meta-Reinforcement Learning](https://mlsanity.com/paper/1803.11347/) (2018)
- [What is the Effect of Importance Weighting in Deep Learning?](https://mlsanity.com/paper/1812.03372/) (2018)
- [Learning Agile Robotic Locomotion Skills by Imitating Animals](https://mlsanity.com/paper/2004.00784/) (2020)
- [Continual Learning of Large Language Models: A Comprehensive Survey](https://mlsanity.com/paper/2404.16789/) (2024)
- [One-Shot Visual Imitation Learning via Meta-Learning](https://mlsanity.com/paper/1709.04905/) (2017)
- [Task-Free Continual Learning](https://mlsanity.com/paper/1812.03596/) (2018)
- [New Insights on Reducing Abrupt Representation Change in Online Continual Learning](https://mlsanity.com/paper/2104.05025/) (2021)
- [Progressive Prompts: Continual Learning for Language Models](https://mlsanity.com/paper/2301.12314/) (2023)
- [Episodic Memory in Lifelong Language Learning](https://mlsanity.com/paper/1906.01076/) (2019)
- [Continual Lifelong Learning in Natural Language Processing: A Survey](https://mlsanity.com/paper/2012.09823/) (2020)
- [Supervised Contrastive Replay: Revisiting the Nearest Class Mean Classifier in Online Class-Incremental Continual Learning](https://mlsanity.com/paper/2103.13885/) (2021)
- [A Neural Dirichlet Process Mixture Model for Task-Free Continual Learning](https://mlsanity.com/paper/2001.00689/) (2020)
- [Human-in-the-Loop Imitation Learning using Remote Teleoperation](https://mlsanity.com/paper/2012.06733/) (2020)
- [Neural-Fly Enables Rapid Learning for Agile Flight in Strong Winds](https://mlsanity.com/paper/2205.06908/) (2022)
- [A Comprehensive Survey of Forgetting in Deep Learning Beyond Continual Learning](https://mlsanity.com/paper/2307.09218/) (2023)
- [Online Continual Learning on Class Incremental Blurry Task Configuration with Anytime Inference](https://mlsanity.com/paper/2110.10031/) (2021)
- [LOTUS: Continual Imitation Learning for Robot Manipulation Through Unsupervised Skill Discovery](https://mlsanity.com/paper/2311.02058/) (2023)
- [Behavior Retrieval: Few-Shot Imitation Learning by Querying Unlabeled Datasets](https://mlsanity.com/paper/2304.08742/) (2023)
- [TAIL: Task-specific Adapters for Imitation Learning with Large Pretrained Models](https://mlsanity.com/paper/2310.05905/) (2023)
- [Class-Incremental Learning with CLIP: Adaptive Representation Adjustment and Parameter Fusion](https://mlsanity.com/paper/2407.14143/) (2024)

## Built on by (most cited first, 1 of 1)

- [Continual Learning for Generative AI: From LLMs to MLLMs and Beyond](https://mlsanity.com/paper/2506.13045/) (2025)

## Abstract (arXiv)

A fundamental objective in intelligent robotics is to move towards lifelong learning robot that can learn and adapt to unseen scenarios over time. However, continually learning new tasks would introduce catastrophic forgetting problems due to data distribution shifts. To mitigate this, we store a subset of data from previous tasks and utilize it in two manners: leveraging experience replay to retain learned skills and applying a novel Retrieval-based Local Adaptation technique to restore relevant knowledge. Since a lifelong learning robot must operate in task-free scenarios, where task IDs and even boundaries are not available, our method performs effectively without relying on such information. We also incorporate a selective weighting mechanism to focus on the most "forgotten" skill segment, ensuring effective knowledge restoration. Experimental results across diverse manipulation tasks demonstrate that our framework provides a scalable paradigm for lifelong learning, enhancing robot performance in open-ended, task-free scenarios.