Before revision:  We use  predictive information maximization  as an intrinsic motivation, as simulated experiments showed that this leads to playful, exploratory behavior that is robust to changes in the robot's morphology and environment. To the authors' knowledge there are no previous HRI studies that evaluate the effect of intrinsically motivated behavior in robots on the human perception of those robots.
After revision:  We use predictive information maximization as an intrinsic motivation, as simulated experiments showed that this leads to playful, exploratory behavior that is robust to changes in the robot's morphology and to its environment.