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Social interaction is an extremely complex yet vital component in daily life. We present a bottom-up approach for the emergence of social behaviours from the interaction of the curiosity drive, i.e. the intrinsic motivation to learn as much as possible, and the embedding environment of an agent. Implementing artificial curiosity algorithms in robots that explore human-like environments results in the emergence of a hierarchical structure of learning and behaviour. This structure resembles thedoi:10.1098/rstb.2018.0029 pmid:30853006 pmcid:PMC6452242 fatcat:xhxhynwlqrdkpdzqb7gbi773yy