I will give a talk at the Fourth International Workshop on Intrinsically-Motivated Open-ended Learning (IMOL2019). This year the workshop will be preceded by a Summer School of the European FET project GOAL-Robots. The workshop was held at the Frankfurt Institute for Advanced Studies (FIAS) in Frankfurt am Main (Germany) on the 1st, 2nd and 3rd of July 2019. For more information about this event please visit this link.