Britta Wrede Katharina J. Rohlfing Marc Hanheide Gerhard Sagerer Towards Learning by Interacting. 139-150 2009 Creating Brain-Like Intelligence http://dx.doi.org/10.1007/978-3-642-00616-6_8 series/lncs/5436 db/series/lncs/lncs5436.html#WredeRHS09