Before revision:  To address the issues reinforcement learning algorithms face when task rewards are sparse, this paper proposes a novel form of intrinsic motivation that can allow robotic manipulators to learn useful manipulation skills with only sparse extrinsic rewards.
After revision:  To address the issues reinforcement learning algorithms face when task rewards are sparse, this paper proposes an intrinsic motivation approach that can be easily integrated into any standard reinforcement learning algorithm and can allow robotic manipulators to learn useful manipulation skills with only sparse extrinsic rewards.