According to one aspect, a robot for proprioceptive learning may include a set of sensors, a memory, and a processor. The processor may perform receiving a set of sensor reading data from the set of sensors, receiving a set of sensor position data associated with the set of sensors, constructing a first graph representation based on the set of sensor reading data, constructing a second graph representation based on the set of sensor position data, performing message passing operation between nodes of the first graph representation and the second graph representation to update the first graph representation and the second graph representation, and executing a task based on readouts from the updated first graph representation and the updated second graph representation.