Experiment reproduction instructions:
All code for reproducing experiments from the paper, with accompanying instructions, are at the following anonymous Google Drive link: https://drive.google.com/drive/folders/1G88Je0K4BuexWhE8ZLgoM0WM6vHcBrvt?usp=sharing. 

The version in this Supplemental does not have the necessary IsaacGym asset files due to upload size limits. Please follow the Google Drive link to obtain runnable code.

Bi-Dexterous Hands Experiments: follow installation instructions from readme in folder, then ‘bash isaacgymenvs/isaacgymenvs/results_table.sh’. Change task in script to your preferred task

NovelD: follow installation instructions from readme in folder, then run:
OMP_NUM_THREADS=1 python main.py --model bebold --env MiniGrid-ObstructedMaze-2Q-v0  --total_frames 20000000 --intrinsic_reward_coef 0.5 --entropy_cost 0.0005 --seed 1 &
The progress function is unfortunately currently not set based on environment name and has to be changed manually. It is currently defined in the code for ObstructedMaze environments, can be changed by replacing the current BinningObsWrapper class definition in gym-minigrid/gym_minigrid/wrappers.py
