One indirect way would be to contact them, then skim through their tech list looking for the colonization techs that they have and you don't, and through your own list of tradeable techs for any you have that are missing (indicating that the AI has that as well). For example, if you've researched Barren and Toxic world colonization, and the AI's tech list in the trade screen shows Aquatic world colonization, while yours only shows Toxic, then the AI has Aquatic and Barren world colonization. A high enough level of espionage will also get you a list of techs.

I'm not aware of any more-direct methods though