Continual Lifelong Learning with Neural Networks: A Review

Humans and animals have the ability to continually acquire and fine-tune knowledge throughout their lifespan. This ability is mediated by a rich set of neurocognitive functions that together contribute to the early development and experiencedriven specialization of our sensorimotor skills. Consequently, the ability to learn from continuous streams of information is crucial for computational learning systems and autonomous agents (inter)acting in the real world. However, continual lifelong learning remains a long-standing challenge for machine learning and neural network models since the incremental acquisition of new skills from non-stationary data distributions generally leads to catastrophic forgetting or interference. This limitation represents a major drawback also for state-of-the-art deep neural network models that typically learn representations from stationary batches of training data, thus without accounting for situations in which the number of tasks is not known a priori and the information becomes incrementally available over time. In this review, we critically summarize the main challenges linked to continual lifelong learning for artificial learning systems and compare existing neural network approaches that alleviate, to different extents, catastrophic interference. Although significant advances have been made in domain-specific continual lifelong learning with neural networks, extensive research efforts are required for the development of general-purpose artificial intelligence and autonomous agents. We discuss wellestablished research and recent methodological trends motivated by experimentally observed lifelong learning factors in biological systems. Such factors include principles of neurosynaptic stability-plasticity, critical developmental stages, intrinsically motivated exploration, transfer learning, and crossmodal integration.