@article{firstreturnthenexplore,
  title = {First return, then explore},
  author = {Adrien Ecoffet and Joost Huizinga and Joel Lehman and Kenneth O. Stanley and Jeff Clune},
  year = {2020},
  eprint = {2004.12919},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2004.12919v6},
}