This paper seems to pre-date behavior trees. Any comment on how TLA relates? (I skimmed but will give a closer look when I have more time.) I was curious what

This paper seems to pre-date behavior trees. Any comment on how TLA relates? (I skimmed but will give a closer look when I have more time.) I was curious what Brooks now thinks about subsumption and found this from a few months ago: The approach to controlling robots, the subsumption architecture that it proposed led directly to the Roomba, a robot vacuum cleaner, which with over 30 million sold is the most produced robot ever.¹ Like many, I got a Roomba not long after the pandemic began. I was disappointed by its poor sensorimotor system. Within a few days its IR cover was scuffed up and it was covered in scratches from getting stuck under an office chair. Brooks doesn't say that 30mm Roombas incorporate subsumption, and no doubt after a decade or two of programmers I wonder about the nature of the codebase. The Roomba's behavior is entirely unpredictable, as sometimes it will bump into something full speed and sometimes it will slow down as it approaches. There are a number of other issues too long to mention including the charging contacts and recently it started roaming around with its charger still attached for no apparent reason. ¹ https://rodneybrooks.com/peer-review/ https://rodneybrooks.com/peer-review/