http://papers.nips.cc/paper/428-navigating-through-temporal-difference.pdf (Publisher version)
Dayan, P. (1991). Navigating Through Temporal Difference. In R. Lippmann, J. Moody, & D. Touretzky (Eds.), Advances in Neural Information Processing Systems 3 (pp. 464-470). San Mateo, CA, USA: Morgan Kaufmann.