Before revision:  Additionally, we find that these experimental behaviors are semantically meaningful (e.g., to differentiate between heavy and light blocks, our agents learn to lift them ), and are learnt in a self-supervised manner with approximately 2.5 times less data than conventional supervised planners.
After revision:  Additionally, we find that these experimental behaviors are semantically meaningful (e.g., to differentiate between heavy and light blocks, our agents learn to lift blocks to categorize them by weight ), and are learnt in a self-supervised manner with approximately 2.5 times less data than conventional supervised planners.