arXiv AI
Oct 5

RIFAR: Reliability and Forgetting-Aware Replay for Continual Robot Learning

RIFAR is a new continual learning method for robots that uses reliability screening and drift-aware replay to mitigate forgetting while keeping storage low. It reconstructs past trajectories from short demonstration prefixes and employs a frozen inverse-dynamics model to verify action‑visual consistency. In experiments on LIBERO suites and real‑world tasks, RIFAR outperforms previous generative replay approaches, achieving high performance with only a small fraction of stored steps.

By Zirong Song, Zheng Lu, Haoran Liao, Wanqi Zhong, Yunhe Ni, Lijie Wang, Xiuying Chen
arXiv Machine Learning
5d ago

Dream to Remember: Continual Steering of Generalist Robot Policies with World Models

Dream to Remember (D2R) is a continual learning framework that steers a frozen generalist robot policy toward new tasks while preserving previously acquired skills. It uses a pretrained world model to rehearse past tasks through imagined rollouts, eliminating the need for replay buffers or new data. Experiments on CALVIN, LIBERO, and a real Franka robot show that D2R can learn multiple tasks sequentially—often entirely in imagination—without catastrophic forgetting, outperforming traditional fine‑tuning methods.

By Bahey Tharwat, Iman Nematollahi, Marvin Alles, Xingyuan Zhang, Akshay L Chandra, Abhinav Valada