@article{qualitydiversitythroughsurprise,
  title = {Quality Diversity Through Surprise},
  author = {Daniele Gravina and Antonios Liapis and Georgios N. Yannakakis},
  year = {2018},
  eprint = {1807.02397},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1807.02397v4},
}