Continual Skill Acquisition Without Catastrophic Forgetting

SOP Framework for VLA Models | Pan et al., arXiv:2601.03044

6
Sequential Tasks
0.000
Best Forgetting (EWC+Replay)
0.209
Best Final Loss
0.3
Optimal Replay Ratio

Average Forgetting by Method

Average Final Loss by Method

Effect of Replay Ratio on Forgetting

Method Comparison Summary

MethodAvg ForgettingAvg Final LossRecommendation
Naive0.01400.2093Baseline only
EWC0.00750.2233Moderate protection
Replay0.00260.2029SOP-native solution
EWC+Replay0.00000.2089Best overall