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Exploration With Intrinsic Motivation Using Object–Action–O..:

Sener, Melisa Idil ; Nagai, Yukie ; Oztop, Erhan.
IEEE Transactions on Cognitive and Developmental Systems.  15 (2023)  2 - p. 325-336 , 2023
Link: https://doi.org/10.1109/tcds.2021.3062728