  Many hallmarks of human intelligence, such as generalizing from limited
experience, abstract reasoning and planning, analogical reasoning, creative
problem solving, and capacity for language require the ability to consolidate
experience into concepts, which act as basic building blocks of understanding
and reasoning. We present a framework that defines a concept by an energy
function over events in the environment, as well as an attention mask over
entities participating in the event. Given few demonstration events, our method
uses inference-time optimization procedure to generate events involving similar
concepts or identify entities involved in the concept. We evaluate our
framework on learning visual, quantitative, relational, temporal concepts from
demonstration events in an unsupervised manner. Our approach is able to
successfully generate and identify concepts in a few-shot setting and resulting
learned concepts can be reused across environments. Example videos of our
results are available at sites.google.com/site/energyconceptmodels
