Class incremental learning (CIL) trains a network on sequential tasks with separated categories in each task but suffers from catastrophic forgetting, where models quickly lose previously learned knowledge when acquiring new tasks. The generalized CIL (GCIL) aims to address the CIL problem in a more real-world scenario, where incoming data have mixed data categories and unknown sample size distribution. Existing attempts for the GCIL either have poor performance or invade data privacy by saving exemplars. In this paper, we propose a new exemplar-free GCIL technique named generalized analytic continual learning (GACL). The GACL adopts analytic learning (a gradient-free training technique) and delivers an analytical (i.e., closed-form) solution to the GCIL scenario. This solution is derived via decomposing the incoming data into exposed and unexposed classes, thereby attaining a weight-invariant property, a rare yet valuable property supporting an equivalence between incremental learning and its joint training. Such an equivalence is crucial in GCIL settings as data distributions among different tasks no longer pose challenges to adopting our GACL. Theoretically, this equivalence property is validated through matrix analysis tools. Empirically, we conduct extensive experiments where, compared with existing GCIL methods, our GACL exhibits a consistently leading performance across various datasets and GCIL settings.

Class incremental learning (CIL) trains a network on sequential tasks with separated categories in each task but suffers from catastrophic forgetting, where models quickly lose previously learned knowledge when acquiring new tasks.

Class incremental learning (CIL) trains a network on sequential tasks with separated categories in each task but suffers from catastrophic forgetting, where models quickly lose previously learned knowledge when acquiring new tasks.

-- Curriculum learning has emerged as a promising approach for training complex robotics tasks, yet current applications predominantly rely on manually designed curricula, which demand significant engineering effort and can suffer from subjective and suboptimal human design choices. While automated curriculum learning has shown success in simple domains like grid worlds and games where task distributions can be easily specified, robotics tasks present unique challenges: they require handling complex task spaces while maintaining relevance to target domain distributions that are only partially known through limited samples. We validate GACL on wheeled navigation in constrained environments and quadruped locomotion in challenging 3D confined spaces, achieving 6.8% and 6.1% higher success rates, respectively, than state-of-the-art methods in each domain. Curriculum learning has shown promises in training robots for complex tasks such as navigating through highly constrained environments or maintaining quadruped locomotion across challenging terrain [1], [2]. However, current applications of curriculum learning in robotics face a fundamental challenge: they predominantly rely on manually designed curricula, which demand significant engineering effort and can suffer from subjective, suboptimal design choices. For example, in quadruped locomotion tasks [2], roboticists must carefully design progressive stages from basic jumping skills to complex obstacle traversal and manually define success metrics and progression conditions at each stage.

Class incremental learning (CIL) trains a network on sequential tasks with separated categories in each task but suffers from catastrophic forgetting, where models quickly lose previously learned knowledge when acquiring new tasks. The generalized CIL (GCIL) aims to address the CIL problem in a more real-world scenario, where incoming data have mixed data categories and unknown sample size distribution. Existing attempts for the GCIL either have poor performance or invade data privacy by saving exemplars. In this paper, we propose a new exemplar-free GCIL technique named generalized analytic continual learning (GACL). The GACL adopts analytic learning (a gradient-free training technique) and delivers an analytical (i.e., closed-form) solution to the GCIL scenario.

Accurate prediction of temporal QoS is crucial for maintaining service reliability and enhancing user satisfaction in dynamic service-oriented environments. However, current methods often neglect high-order latent collaborative relationships and fail to dynamically adjust feature learning for specific user-service invocations, which are critical for precise feature extraction within each time slice. Moreover, the prevalent use of RNNs for modeling temporal feature evolution patterns is constrained by their inherent difficulty in managing long-range dependencies, thereby limiting the detection of long-term QoS trends across multiple time slices. These shortcomings dramatically degrade the performance of temporal QoS prediction. To address the two issues, we propose a novel Graph Attention Collaborative Learning (GACL) framework for temporal QoS prediction. Building on a dynamic user-service invocation graph to comprehensively model historical interactions, it designs a target-prompt graph attention network to extract deep latent features of users and services at each time slice, considering implicit target-neighboring collaborative relationships and historical QoS values. Additionally, a multi-layer Transformer encoder is introduced to uncover temporal feature evolution patterns, enhancing temporal QoS prediction. Extensive experiments on the WS-DREAM dataset demonstrate that GACL significantly outperforms state-of-the-art methods for temporal QoS prediction across multiple evaluation metrics, achieving the improvements of up to 38.80%.