# Self-Supervised Learning Through Efference Copies

arXiv: https://arxiv.org/abs/2210.09224 · HTML: https://mlsanity.com/paper/2210.09224/

## Key facts

- Cited by 9 papers in the map (data through 14 Oct 2026).
- Builds on 36 of its 70 references that are in the map.
- First posted on arXiv 17 Oct 2022.

## Builds on (most cited first, 30 of 36)

- [Attention Is All You Need](https://mlsanity.com/paper/1706.03762/) (2017)
- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [Faster R-CNN: Towards Real-Time Object Detection with Region Proposal Networks](https://mlsanity.com/paper/1506.01497/) (2015)
- [ImageNet Large Scale Visual Recognition Challenge](https://mlsanity.com/paper/1409.0575/) (2014)
- [Representation Learning with Contrastive Predictive Coding](https://mlsanity.com/paper/1807.03748/) (2018)
- [Momentum Contrast for Unsupervised Visual Representation Learning](https://mlsanity.com/paper/1911.05722/) (2019)
- [Fully Convolutional Networks for Semantic Segmentation](https://mlsanity.com/paper/1411.4038/) (2014)
- [Bootstrap your own latent: A new approach to self-supervised Learning](https://mlsanity.com/paper/2006.07733/) (2020)
- [UMAP: Uniform Manifold Approximation and Projection for Dimension Reduction](https://mlsanity.com/paper/1802.03426/) (2018)
- [Exploring Simple Siamese Representation Learning](https://mlsanity.com/paper/2011.10566/) (2020)
- [Unsupervised Learning of Visual Features by Contrasting Cluster Assignments](https://mlsanity.com/paper/2006.09882/) (2020)
- [Improved Baselines with Momentum Contrastive Learning](https://mlsanity.com/paper/2003.04297/) (2020)
- [Barlow Twins: Self-Supervised Learning via Redundancy Reduction](https://mlsanity.com/paper/2103.03230/) (2021)
- [Unsupervised Representation Learning by Predicting Image Rotations](https://mlsanity.com/paper/1803.07728/) (2018)
- [Accurate, Large Minibatch SGD: Training ImageNet in 1 Hour](https://mlsanity.com/paper/1706.02677/) (2017)
- [Unsupervised Learning of Visual Representations by Solving Jigsaw Puzzles](https://mlsanity.com/paper/1603.09246/) (2016)
- [Big Self-Supervised Models are Strong Semi-Supervised Learners](https://mlsanity.com/paper/2006.10029/) (2020)
- [Colorful Image Colorization](https://mlsanity.com/paper/1603.08511/) (2016)
- [Unsupervised Visual Representation Learning by Context Prediction](https://mlsanity.com/paper/1505.05192/) (2015)
- [VICReg: Variance-Invariance-Covariance Regularization for Self-Supervised Learning](https://mlsanity.com/paper/2105.04906/) (2021)
- [Data-Efficient Image Recognition with Contrastive Predictive Coding](https://mlsanity.com/paper/1905.09272/) (2019)
- [Large Batch Training of Convolutional Networks](https://mlsanity.com/paper/1708.03888/) (2017)
- [Understanding the Behaviour of Contrastive Loss](https://mlsanity.com/paper/2012.09740/) (2020)
- [On Mutual Information Maximization for Representation Learning](https://mlsanity.com/paper/1907.13625/) (2019)
- [What Should Not Be Contrastive in Contrastive Learning](https://mlsanity.com/paper/2008.05659/) (2020)
- [Multi-task Self-Supervised Visual Learning](https://mlsanity.com/paper/1708.07860/) (2017)
- [Representation Learning via Invariant Causal Mechanisms](https://mlsanity.com/paper/2010.07922/) (2020)
- [Contrastive and Non-Contrastive Self-Supervised Learning Recover Global and Local Spectral Embedding Methods](https://mlsanity.com/paper/2205.11508/) (2022)
- [Intriguing Properties of Contrastive Losses](https://mlsanity.com/paper/2011.02803/) (2020)

## Built on by (most cited first, 9 of 9)

- [A Cookbook of Self-Supervised Learning](https://mlsanity.com/paper/2304.12210/) (2023)
- [Self-supervised learning of Split Invariant Equivariant representations](https://mlsanity.com/paper/2302.10283/) (2023)
- [Collapse-Proof Non-Contrastive Self-Supervised Learning](https://mlsanity.com/paper/2410.04959/) (2024)
- [seq-JEPA: Autoregressive Predictive Learning of Invariant-Equivariant World Models](https://mlsanity.com/paper/2505.03176/) (2025)
- [GEDI: GEnerative and DIscriminative Training for Self-Supervised Learning](https://mlsanity.com/paper/2212.13425/) (2022)
- [Unifying Self-Supervised Clustering and Energy-Based Models](https://mlsanity.com/paper/2401.00873/) (2023)
- [Point-PNG: Conditional Pseudo-Negatives Generation for Point Cloud Pre-Training](https://mlsanity.com/paper/2409.15832/) (2024)
- [EquiCaps: Predictor-Free Pose-Aware Pre-Trained Capsule Networks](https://mlsanity.com/paper/2506.09895/) (2025)
- [OBSER: Object-Based Sub-Environment Recognition for Zero-Shot Environmental Inference](https://mlsanity.com/paper/2507.02929/) (2025)

## Abstract (arXiv)

Self-supervised learning (SSL) methods aim to exploit the abundance of unlabelled data for machine learning (ML), however the underlying principles are often method-specific. An SSL framework derived from biological first principles of embodied learning could unify the various SSL methods, help elucidate learning in the brain, and possibly improve ML. SSL commonly transforms each training datapoint into a pair of views, uses the knowledge of this pairing as a positive (i.e. non-contrastive) self-supervisory sign, and potentially opposes it to unrelated, (i.e. contrastive) negative examples. Here, we show that this type of self-supervision is an incomplete implementation of a concept from neuroscience, the Efference Copy (EC). Specifically, the brain also transforms the environment through efference, i.e. motor commands, however it sends to itself an EC of the full commands, i.e. more than a mere SSL sign. In addition, its action representations are likely egocentric. From such a principled foundation we formally recover and extend SSL methods such as SimCLR, BYOL, and ReLIC under a common theoretical framework, i.e. Self-supervision Through Efference Copies (S-TEC). Empirically, S-TEC restructures meaningfully the within- and between-class representations. This manifests as improvement in recent strong SSL baselines in image classification, segmentation, object detection, and in audio. These results hypothesize a testable positive influence from the brain's motor outputs onto its sensory representations.