An important step up from Parametrized Actions is the organization of these activities into stories. Animating human-robot interactions is the theme of an Army-sponsored project. My postdoc, Mubbasir Kapadia, leads a two year concerted effort in crowd motions, navigation planning, and story systems. Behavior trees are a programming structure organizing actions. Agents are controlled by explicit actions and goals, mediated by a planning system. This approach enables flexibility to execute similar story goals in alternative environments or under alternative conditions. We used machine learning to generate training data for crowd simulations.