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The performance of high-contrast imaging instruments is limited by wavefront errors, in particular by non-common path aberrations (NCPAs). Focal-plane wavefront sensing (FPWFS) is appropriate to handle NCPAs because it measures the aberration where it matters the most, that is to say at the science focal plane. Phase retrieval from focal-plane images results, nonetheless, in a sign ambiguity for even modes of the pupil-plane phase. The phase diversity methods currently used to solve the sign ambiguity tend to reduce the science duty cycle, that is, the fraction of observing time dedicated to science. In this work, we explore how we can combine the phase diversity provided by a vortex coronagraph with modern deep learning techniques to perform efficient FPWFS without losing observing time. We applied the state-of-the-art convolutional neural network EfficientNet-B4 to infer phase aberrations from simulated focal-plane images. The two cases of scalar and vector vortex coronagraphs (SVC and VVC) were considered using a single post-coronagraphic point spread function (PSF) or two PSFs obtained by splitting the circular polarization states, respectively. The sign ambiguity has been properly lifted in both cases even at low signal-to-noise ratios (S/Ns). Using either the SVC or the VVC, we have reached a very similar performance compared to using phase diversity with a defocused PSF, except for high levels of aberrations where the SVC slightly underperforms compared to the other approaches. The models finally show great robustness when trained on data with a wide range of wavefront errors and noise levels. The proposed FPWFS technique provides a 100% science duty cycle for instruments using a vortex coronagraph and does not require any additional hardware in the case of the SVC., Comment: Published in A&A