@incollection{martiusherrmann:tippingscales11, title = {Tipping the Scales: Guidance and Intrinsically Motivated Behavior}, author = {Martius, Georg and Herrmann, J. M.}, booktitle = {Advances in Artificial Life, ECAL 2011}, pages = {506--513}, editors = {Tom Lenaerts and Mario Giacobini and Hugues Bersini and Paul Bourgine and Marco Dorigo and René Doursat}, publisher = {MIT Press}, year = {2011}, doi = {} }