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Taking inspiration from developmental learning, we present a novel reinforcement learning architecture which hierarchically learns and represents self-generated skills in an end-to-end way. ... To do so, we combine a previously defined mutual information objective with a novel curriculum learning algorithm, creating an unlimited and explorable tree of skills. ... We acknowledge the support of NVIDIA Corporation with the donation of the Titan V used for this research. ...arXiv:2006.12903v1 fatcat:ojospvzwlndjjk4witdfcq5hwi