@article{gumbsch2019autonomous, title = {Autonomous Identification and Goal-Directed Invocation of Event-Predictive Behavioral Primitives}, author = {Gumbsch, Christian and Butz, Martin V. and Martius, Georg}, journal = {IEEE Transactions on Cognitive and Developmental Systems}, volume = {13}, number = {2}, pages = {298--311}, month = jun, year = {2019}, doi = {10.1109/TCDS.2019.2925890}, url = {https://ieeexplore.ieee.org/document/8753716}, month_numeric = {6} }