"This paper develops generalizations of empowerment to continuous states. Empowerment is a recently introduced information-theoretic quantity motivated by hypotheses about the efficiency of the sensorimotor loop in biological organisms, but also from considerations stemming from curiosity-driven learning. Empowemerment measures, for agent-environment systems with stochastic transitions, how much influence an agent has on its environment, but only that influence that can be sensed by the agent sensors. It is an information-theoretic generalization of joint controllability (influence on environment) and observability (measurement by sensors) of the environment by the agent, both controllability and observability being usually defined in control theory as the dimensionality of the control/observation spaces.…"