@TechReport{ranasinghe2008surprise-based-learning-algorithm,
  abstract = 	{ This paper presents a learning algorithm known as surprise-based learning (SBL) capable of providing a physical robot the ability to autonomously learn and plan in an unknown environment without any prior knowledge of its actions or their impact on the environment. }
  author = 	 {Nadeesha Ranasinghe and Wei-Min Shen},
  title = 	 {The Surprise-Based Learning Algorithm},
  institution =  {USC Information Sciences Institute},
  year = 	 {2008},
  number = 	 {ISI-TR-651},
  month = 	 apr,
}