Successful self-teaching requires self-discipline and reflective capability. Some research suggests that being able to regulate one's own learning is something that must be modeled to students, for it is not a natural human tendency in the population at large. To interact with the environment, a framework has been identified to determine the components of any learning system: a reward function, incremental action value functions and action selection methods. Rewards work best in motivating learning when they are specifically chosen on an individual student basis. New knowledge must be incorporated into previously existing information as its value is to be assessed. Ultimately, these scaffolding techniques, as described by Vygotsky (1978) and problem solving methods are a result of dynamic decision making.