That's a really great, interesting paper ([2]). Thanks for linking it here. This is a more recent (Dec 2020) paper by one of the authors on combining empowerme

That's a really great, interesting paper ([2]). Thanks for linking it here. This is a more recent (Dec 2020) paper by one of the authors on combining empowerment and extrinsic goals: https://ieeexplore.ieee.org/abstract/document/9284556 https://ieeexplore.ieee.org/abstract/document/9284556