Martinez was in charge of Lukaku for three seasons at Goodison Park and has since been reunited with the striker as manager of the Belgium national team.
And Lukaku has revealed that Martinez told him to learn from three forwards during their time together at Merseyside, in order to improve his movement in front of goal.
‘I’ve improved my movement, especially in the box,’ Lukaku told Belgian outlet DH.
‘Two years ago, at Everton, Roberto Martinez made me watch videos of my own movement, but also those of other strikers like Hugo Sanchez, Edinson Cavani and Chicharito (Javier Hernandez).
‘You need to sit down and watch the Uruguayan’s movement inside the box. It’s incredible. On top of that, I worked three times a week on my runs inside the box with my coaches.’
Hernandez, currently at West Ham, spent five years with Lukaku’s current side Manchester United scoring 59 goals despite being mostly used as a substitute.
Paris Saint-Germain striker Cavani has started the season on fire with 17 goals in 16 appearances in all competitions so far for the Ligue 1 leaders.
Legendary Mexican forward Hugo Sanchez meanwhile scored 208 times for Real Madrid during a glittering career which also saw him play for city rivals Atletico.
Lukaku is currently in the midst of a seven-game goal drought with United after starting the season on fire following his £75million summer move from Everton.
The striker netted twice in Belgium’s 3-3 draw with Mexico on Friday but has failed to find the target for his club since the 4-0 win over Crystal Palace, on September 30.
Belgium became the first European country to qualify for the World Cup when they sealed their place in Russia with a 2-1 victory over Greece back in September, with Lukaku netting the winner.
Martinez has come under criticism from one of his own players, Kevin De Bruyne, for his tactics ahead during World Cup qualification.
Following the Mexico draw, De Bruyne told Belgian newspaper Het Laaste Niewus: ‘As long as we don’t have a good tactical system, we will have difficulties against countries like Mexico. It’s a pity that we have not yet found a solution.
‘Of course we play with a system that is in principle very defensive, but it is filled with many attacking players who want the ball.
‘Then you have a bit of a problem, like against Mexico. It was a match in which we had very little possession and everyone in a system that doesn’t really fit.
‘But eventually Martinez decides. I think the trainer has to find a solution so that we can avoid such situations in future.