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.
After revision:  We use an information theoretic quantity - 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.