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Intrinsic motivation generates behaviors that do not necessarily lead to immediate reward, but help exploration and learning. Here we show that agents having the sole goal of maximizing occupancy of future actions and states, that is, moving and exploring on the long term, are capable of complex behavior without any reference to external rewards. We find that action-state path entropy is the only measure consistent with additivity and other intuitive properties of expected future action-statearXiv:2205.10316v1 fatcat:xixzn53fvrc2rhcae6dkulnupq