Self-Supervised On-Policy Reinforcement Learning via Contrastive Proximal Policy Optimisation. - Asim Osman; Sasha Abramowitz; Mark Bergh; Ulrich A. Mbou Sob; Ruan John de Kock; Omayma Mahjoub; Oussama Hidaoui; Noah de Nicola; Arnol Fokam; Félix Chalumeau; Daniel Rajaonarivonivelomanantsoa; Siddarth Singh; et al. (CoRR, 2026)