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Curiosity-based reward schemes can present powerful exploration mechanismswhich facilitate the discovery of solutions for complex, sparse or long-horizontasks. However, as the agent learns to reach previously unexplored spaces andthe objective adapts to reward new areas, many behaviours emerge only todisappear due to being overwritten by the constantly shifting objective. Weargue that merely using curiosity for fast environment exploration or as abonus reward for a specific task does not harness the full potential of thistechnique and misses useful skills. Instead, we propose to shift the focustowards retaining the behaviours which emerge during curiosity-based learning.We posit that these self-discovered behaviours serve as valuable skills in anagent's repertoire to solve related tasks. Our experiments demonstrate thecontinuous shift in behaviour throughout training and the benefits of a simplepolicy snapshot method to reuse discovered behaviour for transfer tasks.

Is Curiosity All You Need? On the Utility of Emergent Behaviours from Curious Exploration