TPD TPM 100 90 80 70 60 50 TPD TPM TCW TSW CCC CBD TSW 90 80 70 60 50 TPD TPM TCW TSW CCC CBD TPD 100 90 80 70 60 50 TPD CCC TCW TPM TSW CBD TPW 100 90 80 70 60 50 TPD CCC TCW TPM TSW CBD CBD 100 90 80 70 60 50 CBD TPM CCC TSW TCW TPD TSW 90 80 70 60 CBD TPM CCC TSW TCW TPD 100 95 90 85 80 75 70 65 60 CBD TPM CCC TSW TCW TPD (c) 100 90 80 70 60 50 CBD TPM CCC TSW TCW TPD TCW 100 95 90 85 80 75 70 CBD TPM CCC TSW TCW TPD FIGURE 7. Forgetting curves of different algorithms under the task orders of (a), (b), and (c). JUNE 2023 IEEE ROBOTICS & AUTOMATION MAGAZINE 19 70 60 40 50 CBD TPM CCC TSW TCW TPD TPD 70 60 50 TPD CCC TCW TPM TSW CBD (b) TPM 100 90 80 90 80 95 90 85 80 75 70 TPD CCC TCW TPM TSW CBD CCC 100 90 80 70 60 50 TPD CCC TCW TPM TSW CBD TSW 100 90 80 70 60 50 100 95 90 85 80 75 TPD TPM TCW TSW CCC CBD CCC 95 90 85 75 80 65 70 TPD TPM TCW TSW CCC CCC (a) 100 90 80 70 60 50 40 TPD CCC TCW TPM TSW CBD CBD SGD LWF LWM EWC GPM RGO MTL CBD TPD TPM TCW TSW TCW CCC CBD 100 90 80 60 70 50 40 TPD TPM TCW TSW CCC CBD CBD TCW Accuracy (%) Accuracy (%) Accuracy (%) Accuracy (%) Accuracy (%) Accuracy (%) Accuracy (%) Accuracy (%) Accuracy (%) Accuracy (%) Accuracy (%) Accuracy (%) Accuracy (%) Accuracy (%) Accuracy (%) Accuracy (%) Accuracy (%) Accuracy (%)