{"id":"https://openalex.org/W4407163958","doi":"https://doi.org/10.1038/s42256-025-00983-2","title":"Preserving and combining knowledge in robotic lifelong reinforcement learning","display_name":"Preserving and combining knowledge in robotic lifelong reinforcement learning","publication_year":2025,"publication_date":"2025-02-05","ids":{"openalex":"https://openalex.org/W4407163958","doi":"https://doi.org/10.1038/s42256-025-00983-2"},"language":"en","primary_location":{"id":"doi:10.1038/s42256-025-00983-2","is_oa":true,"landing_page_url":"https://doi.org/10.1038/s42256-025-00983-2","pdf_url":"https://www.nature.com/articles/s42256-025-00983-2.pdf","source":{"id":"https://openalex.org/S2912241403","display_name":"Nature Machine Intelligence","issn_l":"2522-5839","issn":["2522-5839"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319908","host_organization_name":"Nature Portfolio","host_organization_lineage":["https://openalex.org/P4310319908","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Nature Portfolio","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Nature Machine Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://www.nature.com/articles/s42256-025-00983-2.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5053030482","display_name":"Yuan Meng","orcid":"https://orcid.org/0009-0001-5949-8793"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Yuan Meng","raw_affiliation_strings":["School of Computation, Information and Technology, Technical University of Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"School of Computation, Information and Technology, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060444894","display_name":"Zhenshan Bing","orcid":"https://orcid.org/0000-0002-0896-2517"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]},{"id":"https://openalex.org/I881766915","display_name":"Nanjing University","ror":"https://ror.org/01rxvg760","country_code":"CN","type":"education","lineage":["https://openalex.org/I881766915"]}],"countries":["CN","DE"],"is_corresponding":false,"raw_author_name":"Zhenshan Bing","raw_affiliation_strings":["School of Computation, Information and Technology, Technical University of Munich, Garching, Germany","State Key Laboratory for Novel Software Technology, Nanjing University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"School of Computation, Information and Technology, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]},{"raw_affiliation_string":"State Key Laboratory for Novel Software Technology, Nanjing University, Nanjing, China","institution_ids":["https://openalex.org/I881766915"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073985865","display_name":"Xiangtong Yao","orcid":"https://orcid.org/0000-0003-2556-3072"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Xiangtong Yao","raw_affiliation_strings":["School of Computation, Information and Technology, Technical University of Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"School of Computation, Information and Technology, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016558517","display_name":"Kejia Chen","orcid":"https://orcid.org/0000-0001-7700-290X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Kejia Chen","raw_affiliation_strings":["School of Computation, Information and Technology, Technical University of Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"School of Computation, Information and Technology, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100768452","display_name":"Kai Huang","orcid":"https://orcid.org/0000-0003-0359-7810"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Kai Huang","raw_affiliation_strings":["Key Laboratory of Machine Intelligence and Advanced Computing, School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Machine Intelligence and Advanced Computing, School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100316015","display_name":"Yang Gao","orcid":"https://orcid.org/0009-0006-1204-4758"},"institutions":[{"id":"https://openalex.org/I881766915","display_name":"Nanjing University","ror":"https://ror.org/01rxvg760","country_code":"CN","type":"education","lineage":["https://openalex.org/I881766915"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Gao","raw_affiliation_strings":["State Key Laboratory for Novel Software Technology, Nanjing University, Nanjing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory for Novel Software Technology, Nanjing University, Nanjing, China","institution_ids":["https://openalex.org/I881766915"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111876340","display_name":"Fuchun Sun","orcid":"https://orcid.org/0000-0002-9169-951X"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Fuchun Sun","raw_affiliation_strings":["Department of Computer Science and Technology, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Technology, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5063781430","display_name":"Alois Knoll","orcid":"https://orcid.org/0000-0003-4840-076X"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alois Knoll","raw_affiliation_strings":["School of Computation, Information and Technology, Technical University of Munich, Garching, Germany"],"affiliations":[{"raw_affiliation_string":"School of Computation, Information and Technology, Technical University of Munich, Garching, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5100768452","https://openalex.org/A5111876340"],"corresponding_institution_ids":["https://openalex.org/I157773358","https://openalex.org/I99065089"],"apc_list":{"value":9750,"currency":"EUR","value_usd":11690},"apc_paid":{"value":9750,"currency":"EUR","value_usd":11690},"fwci":53.8924,"has_fulltext":true,"cited_by_count":23,"citation_normalized_percentile":{"value":0.99831768,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"7","issue":"2","first_page":"256","last_page":"269"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9986000061035156,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11307","display_name":"Domain Adaptation and Few-Shot Learning","score":0.9984999895095825,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.6284472346305847},{"id":"https://openalex.org/keywords/lifelong-learning","display_name":"Lifelong learning","score":0.6094914674758911},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4731808006763458},{"id":"https://openalex.org/keywords/reinforcement","display_name":"Reinforcement","score":0.4687865972518921},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28418803215026855},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22168439626693726},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.13975933194160461},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.07339239120483398},{"id":"https://openalex.org/keywords/pedagogy","display_name":"Pedagogy","score":0.0441533625125885}],"concepts":[{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.6284472346305847},{"id":"https://openalex.org/C108771440","wikidata":"https://www.wikidata.org/wiki/Q368475","display_name":"Lifelong learning","level":2,"score":0.6094914674758911},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4731808006763458},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.4687865972518921},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28418803215026855},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22168439626693726},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.13975933194160461},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.07339239120483398},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0441533625125885}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1038/s42256-025-00983-2","is_oa":true,"landing_page_url":"https://doi.org/10.1038/s42256-025-00983-2","pdf_url":"https://www.nature.com/articles/s42256-025-00983-2.pdf","source":{"id":"https://openalex.org/S2912241403","display_name":"Nature Machine Intelligence","issn_l":"2522-5839","issn":["2522-5839"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319908","host_organization_name":"Nature Portfolio","host_organization_lineage":["https://openalex.org/P4310319908","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Nature Portfolio","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Nature Machine Intelligence","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1038/s42256-025-00983-2","is_oa":true,"landing_page_url":"https://doi.org/10.1038/s42256-025-00983-2","pdf_url":"https://www.nature.com/articles/s42256-025-00983-2.pdf","source":{"id":"https://openalex.org/S2912241403","display_name":"Nature Machine Intelligence","issn_l":"2522-5839","issn":["2522-5839"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319908","host_organization_name":"Nature Portfolio","host_organization_lineage":["https://openalex.org/P4310319908","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Nature Portfolio","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Nature Machine Intelligence","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1231421488","display_name":null,"funder_award_id":"under","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2087396116","display_name":null,"funder_award_id":"China","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2388429035","display_name":null,"funder_award_id":"U22B2042","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3317480652","display_name":null,"funder_award_id":"Science","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G391238517","display_name":null,"funder_award_id":", and","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5994120800","display_name":null,"funder_award_id":"Natural","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320323383","display_name":"Technische Universit\u00e4t M\u00fcnchen","ror":"https://ror.org/02kkvpp62"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4407163958.pdf","grobid_xml":"https://content.openalex.org/works/W4407163958.grobid-xml"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W2005720817","https://openalex.org/W2016846948","https://openalex.org/W2033016465","https://openalex.org/W2064531905","https://openalex.org/W2071290167","https://openalex.org/W2168101731","https://openalex.org/W2560647685","https://openalex.org/W2583761661","https://openalex.org/W2753738274","https://openalex.org/W2760103357","https://openalex.org/W2786446225","https://openalex.org/W2788388592","https://openalex.org/W2904246096","https://openalex.org/W2962707369","https://openalex.org/W2963072899","https://openalex.org/W2963588172","https://openalex.org/W2964189064","https://openalex.org/W2981344907","https://openalex.org/W3030364939","https://openalex.org/W3081310128","https://openalex.org/W3097816393","https://openalex.org/W3098511564","https://openalex.org/W3117215073","https://openalex.org/W4220918847","https://openalex.org/W4360884927","https://openalex.org/W4387839203","https://openalex.org/W4389262616","https://openalex.org/W4402354036","https://openalex.org/W6771876938","https://openalex.org/W6853664340","https://openalex.org/W6949404985"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2364105709","https://openalex.org/W2384383462","https://openalex.org/W2380954666","https://openalex.org/W422428167","https://openalex.org/W1981922029","https://openalex.org/W2037025106","https://openalex.org/W2499777278"],"abstract_inverted_index":{"Abstract":[0],"Humans":[1],"can":[2,102,117],"continually":[3],"accumulate":[4,104],"knowledge":[5,73,105,129],"and":[6,11,50,125,147],"develop":[7],"increasingly":[8],"complex":[9],"behaviours":[10],"skills":[12],"throughout":[13],"their":[14],"lives,":[15],"which":[16],"is":[17,29],"a":[18,60,72,107],"capability":[19,28],"known":[20],"as":[21],"\u2018lifelong":[22],"learning\u2019.":[23],"Although":[24],"this":[25,53,68],"lifelong":[26,54,62,144],"learning":[27,55,64,145],"considered":[30],"an":[31],"essential":[32],"mechanism":[33],"that":[34,66],"makes":[35],"up":[36],"general":[37],"intelligence,":[38],"recent":[39],"advancements":[40],"in":[41,46],"artificial":[42],"intelligence":[43],"predominantly":[44],"excel":[45],"narrow,":[47],"specialized":[48],"domains":[49],"generally":[51],"lack":[52],"capability.":[56],"Here":[57],"we":[58,83],"introduce":[59],"robotic":[61,143],"reinforcement":[63],"framework":[65,137],"addresses":[67],"gap":[69],"by":[70,76,91,123],"developing":[71],"space":[74],"inspired":[75],"the":[77,85,96,131,142,150],"Bayesian":[78],"non-parametric":[79],"domain.":[80],"In":[81],"addition,":[82],"enhance":[84],"agent\u2019s":[86],"semantic":[87],"understanding":[88,140],"of":[89,110,141,152],"tasks":[90,122,133],"integrating":[92],"language":[93],"embeddings":[94],"into":[95],"framework.":[97],"Our":[98],"proposed":[99,136],"embodied":[100],"agent":[101,116],"consistently":[103],"from":[106,130],"continuous":[108],"stream":[109],"one-time":[111],"feeding":[112],"tasks.":[113],"Furthermore,":[114],"our":[115,139],"tackle":[118],"challenging":[119],"real-world":[120],"long-horizon":[121],"combining":[124],"reapplying":[126],"its":[127],"acquired":[128],"original":[132],"stream.":[134],"The":[135],"advances":[138],"process":[146],"may":[148],"inspire":[149],"development":[151],"more":[153],"broadly":[154],"applicable":[155],"intelligence.":[156]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":19}],"updated_date":"2026-04-10T15:06:20.359241","created_date":"2025-10-10T00:00:00"}
