A learner's modifiable components are called its policy. An algorithm that modifies the policy is a learning algorithm. If the learning algorithm has modifiable components represented as part of the policy, then we speak of a self-modifying policy (SMP). SMPs can modify the way they modify themselves etc. They are of interest in situations where the initial learning algorithm itself can be improved by experience - this is what we call "learning to learn". How can we force some (stochastic) SMP to trigger better and better self-modifications? The success-story algorithm (SSA) addresses this question in a lifelong reinforcement learning context. During the learner's life-time, SSA is occasionally called at times computed according to SMP itself. SSA uses backtracking to undo those SMP-generated SMP-modifications that have not been empirically observed to trigger lifelong reward accelerations (measured up until the current SSA call - this evaluates the long-term effects of SMP-modifications setting the stage for later SMP-modifications). SMP-modifications that survive SSA represent a lifelong success history. Until the next SSA call, they build the basis for additional SMP-modifications. Solely by self-modifications our SMP/SSA-based learners solve a complex task in a partially observable environment (POE) whose state space is far bigger than most reported in the POE literature.