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How can we define intrinsic motivation

Intrinsic motivation is a crucial mechanism for open-ended cognitive development since it is the driver of spontaneous exploration and curiosity. Yet, it has so far only been conceptualized in ad hoc manners in the epigenetic robotics community. After reviewing different approaches to intrinsic motivation in psychology, this paper presents a unified definition of intrinsic motivation, based on the theory of Daniel Berlyne. Based on this definition, we propose a landscape of types of computational approaches, making it possible to position existing and future models relative to each other, and we show that important approaches are still to be explored.