Hey, thanks a lot for the comment. I'd love to see some code about the "express state machines as data". I always had a hard time with state machines, because every time I needed to add a new node, I had to reason about too many transitions, especially when the number of states was enormous. I like the BT structure because of the modularity, but it would be nice to see some other way to implement things - always a welcome addition. Regarding the BTs with channels, I'm very curious about it. Will check the article, for sure