A computer-implemented method is provided for disentangled data generation. The method includes accessing, by a variational autoencoder, a plurality of supervision signals. The method further includes accessing, by the variational autoencoder, a plurality of auxiliary tasks that utilize the supervision signals as reward signals to learn a disentangled representation. The method also includes training the variational autoencoder to disentangle a sequential data input into a time-invariant factor and a time-varying factor using a self-supervised training approach which is based on outputs of the auxiliary tasks obtained by using the supervision signals to accomplish the plurality of auxiliary tasks.