Doctors are apparently unsure whether HPV lasts forever or not. Traditionally they've said it does, but new research suggests the body may clear it. But again, they don't really know. It's an open debate, I hear.
Genital warts are pretty harmless, though. The strains of HPV that cause genital warts are not the same ones that can lead to cervical cancer. So I wouldn't worry about it all that much. You can't fully protect against HPV with condoms, and most people already have it, so... don't lose too much sleep over it.