Robot battery

Hi everybody I build my robot actually I have a 12v 12ah lead acid battery ( https://www.battery-direct.fr/Batterie-BP12-12.html). I would like to change it but I don t if I choose lipo or lifepo4 or li-ion? My principal goal is loose weight and size, so I think about lipo but I am not shure

Question by LaurentP30