@article{unsupervisedrealtimecontrolthrough,
  title = {Unsupervised Real-Time Control through Variational Empowerment},
  author = {Maximilian Karl and Maximilian Soelch and Philip Becker-Ehmck and Djalel Benbouzid and Patrick van der Smagt and Justin Bayer},
  year = {2017},
  eprint = {1710.05101},
  archivePrefix = {arXiv},
  url = {http://arxiv.org/abs/1710.05101v1},
}