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., 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.