Goals as reward-producing programs

People are remarkably capable of generating their own goals, beginning with child’s play and continuing into adulthood. Despite considerable empirical and computational work on goals and goal-oriented behaviour, models are still far from capturing the richness of everyday human goals. This work bridges this gap by collecting a dataset of human-generated playful goals (in the form of scorable, single-player games), modelling them as reward-producing programs and generating novel human-like goals through program synthesis. Reward-producing programs capture the rich semantics of goals through symbolic operations that compose, add temporal constraints and allow program execution on behavioural traces to evaluate progress. To build a generative model of goals, the authors learn a fitness function over the infinite set of possible goal programs and sample novel goals with a quality-diversity algorithm. Human evaluators found that model-generated goals, when sampled from partitions of program space occupied by human examples, were indistinguishable from human-created games. The authors also discovered that the model’s internal fitness scores predict games that are evaluated as more fun to play and more human-like.