# GRAIL: A Goal-Discovering Robotic Architecture for Intrinsically-Motivated Learning

> Research article (IEEE Transactions on Cognitive and Developmental Systems, 2016) · cited 91× · AI/ML

**Wikidata**: [openalex:W2401657790](https://www.wikidata.org/wiki/openalex:W2401657790)  
**Source**: https://4ort.xyz/entity/grail-a-goal-discovering-robotic-architecture-for-intrinsically-motivated-learning