Eventually it shouldn't be a choice though, it should be a deeply ingrained habit. There shouldn't even be a treat then, it should be faded out. Of course tha

Eventually it shouldn't be a choice though, it should be a deeply ingrained habit. There shouldn't even be a treat then, it should be faded out. Of course that takes a lot of training, where you can control the situation to give the dog a fake choice (by leashing him) and/or ensure the bad choice is the right amount less awesome than the treat. I am not advocating against negative reinforcement here. It can help build good habits by steering the dog towards the good choice and preventing the bad one. I'm just disagreeing with the notion that the end result should be the dog deciding based on expected reward and punishment. (I know this is quite idealistic.)