Part 1-2

Forward & Backward Skill Compatibility

Read the barsDark bars keep the initial policy, light bars re-train a synced policy, and ◇ marks the same baseline with SIL-C.

Across settingsSIL-C lifts initial-policy reward in all four Kitchen / Meta-World × Emergent / Explicit settings.

SIL-C Figure 4 comparing phase-wise normalized reward in Franka Kitchen and Meta-World under Emergent and Explicit skill incremental learning
SIL-C · Figure 4