@incollection{martiusherrmann:tippingscales11,
  title = {Tipping the Scales: Guidance and Intrinsically Motivated Behavior},
  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},
  slug = {martiusherrmann-tippingscales11},
  author = {Martius, Georg and Herrmann, J. M.}
}