# Temporal Representations for Exploration: Learning Complex Exploratory Behavior without Extrinsic Rewards

arXiv: https://arxiv.org/abs/2603.02008 · HTML: https://mlsanity.com/paper/2603.02008/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Placed in Deep RL algorithms and representations, one of 15 directions in Deep reinforcement learning methods.
- Builds on 61 of its 84 references that are in the map.
- First posted on arXiv 2 Mar 2026.

## Placed in

- Deep reinforcement learning methods / [Deep RL algorithms and representations](https://mlsanity.com/deeprl/deep-rl-algorithms-and-representations/)

## Builds on (most cited first, 30 of 61)

- [Proximal Policy Optimization Algorithms](https://mlsanity.com/paper/1707.06347/) (2017)
- [A Simple Framework for Contrastive Learning of Visual Representations](https://mlsanity.com/paper/2002.05709/) (2020)
- [Representation Learning with Contrastive Predictive Coding](https://mlsanity.com/paper/1807.03748/) (2018)
- [Soft Actor-Critic: Off-Policy Maximum Entropy Deep Reinforcement Learning with a Stochastic Actor](https://mlsanity.com/paper/1801.01290/) (2018)
- [Generative Adversarial Imitation Learning](https://mlsanity.com/paper/1606.03476/) (2016)
- [Understanding Contrastive Representation Learning through Alignment and Uniformity on the Hypersphere](https://mlsanity.com/paper/2005.10242/) (2020)
- [Learning deep representations by mutual information estimation and maximization](https://mlsanity.com/paper/1808.06670/) (2018)
- [Soft Actor-Critic Algorithms and Applications](https://mlsanity.com/paper/1812.05905/) (2018)
- [Curiosity-driven Exploration by Self-supervised Prediction](https://mlsanity.com/paper/1705.05363/) (2017)
- [Exploration by Random Network Distillation](https://mlsanity.com/paper/1810.12894/) (2018)
- [CURL: Contrastive Unsupervised Representations for Reinforcement Learning](https://mlsanity.com/paper/2004.04136/) (2020)
- [Unifying Count-Based Exploration and Intrinsic Motivation](https://mlsanity.com/paper/1606.01868/) (2016)
- [Reinforcement Learning with Unsupervised Auxiliary Tasks](https://mlsanity.com/paper/1611.05397/) (2016)
- [Planning to Explore via Self-Supervised World Models](https://mlsanity.com/paper/2005.05960/) (2020)
- [Successor Features for Transfer in Reinforcement Learning](https://mlsanity.com/paper/1606.05312/) (2016)
- [Data-Efficient Reinforcement Learning with Self-Predictive Representations](https://mlsanity.com/paper/2007.05929/) (2020)
- [#Exploration: A Study of Count-Based Exploration for Deep Reinforcement Learning](https://mlsanity.com/paper/1611.04717/) (2016)
- [Large-Scale Study of Curiosity-Driven Learning](https://mlsanity.com/paper/1808.04355/) (2018)
- [Self-Supervised Exploration via Disagreement](https://mlsanity.com/paper/1906.04161/) (2019)
- [Count-Based Exploration with Neural Density Models](https://mlsanity.com/paper/1703.01310/) (2017)
- [Contrastive Learning as Goal-Conditioned Reinforcement Learning](https://mlsanity.com/paper/2206.07568/) (2022)
- [Benchmarking the Spectrum of Agent Capabilities](https://mlsanity.com/paper/2109.06780/) (2021)
- [Efficient Exploration via State Marginal Matching](https://mlsanity.com/paper/1906.05274/) (2019)
- [Reinforcement Learning with Prototypical Representations](https://mlsanity.com/paper/2102.11271/) (2021)
- [Behavior From the Void: Unsupervised Active Pre-Training](https://mlsanity.com/paper/2103.04551/) (2021)
- [Learning to Walk via Deep Reinforcement Learning](https://mlsanity.com/paper/1812.11103/) (2018)
- [Incentivizing Exploration In Reinforcement Learning With Deep Predictive Models](https://mlsanity.com/paper/1507.00814/) (2015)
- [Variational Information Maximisation for Intrinsically Motivated Reinforcement Learning](https://mlsanity.com/paper/1509.08731/) (2015)
- [URLB: Unsupervised Reinforcement Learning Benchmark](https://mlsanity.com/paper/2110.15191/) (2021)
- [Learning One Representation to Optimize All Rewards](https://mlsanity.com/paper/2103.07945/) (2021)

## Built on by (most cited first, 2 of 2)

- [Decoupling Exploration and Policy Optimization: Uncertainty Guided Tree Search for Hard Exploration](https://mlsanity.com/paper/2603.22273/) (2026)
- [Scaling Empowered Agents](https://mlsanity.com/paper/2610.13002/) (2026)

## Abstract (arXiv)

Effective exploration in reinforcement learning requires not only tracking where an agent has been, but also understanding how the agent perceives and represents the world. To learn powerful representations, an agent should actively explore states that contribute to its knowledge of the environment. Temporal representations can capture the information necessary to solve a wide range of potential tasks while avoiding the computational cost associated with full state reconstruction. In this paper, we propose an exploration method that leverages temporal contrastive representations to guide exploration, prioritizing states with unpredictable future outcomes. We demonstrate that such representations can enable the learning of complex exploratory x in locomotion, manipulation, and embodied-AI tasks, revealing capabilities and behaviors that traditionally require extrinsic rewards. Unlike approaches that rely on explicit distance learning or episodic memory mechanisms (e.g., quasimetric-based methods), our method builds directly on temporal similarities, yielding a simpler yet effective strategy for exploration.