@article{RothkopfBallard2010,
  author    = {Constantin A. Rothkopf and Dana H. Ballard},
  title     = {Credit assignment in multiple goal embodied visuomotor behavior},
  journal   = {Frontiers in psychology},
  volume    = {1},
  number    = {Article 173},
  pages     = {1 -- 13},
  doi       = {10.3389/fpsyg.2010.00173},
  year      = {2010}
}