The authors would like to thank Ken Russell for his tireless implemention efforts; Chris Graczyk and Greg Anderson for designing the environments;and Iki Nakagawa and Taketo Nakanishi for their work on the visual material. Tinsley Galyean for his suggestions on interactive story-telling. Thad Starner for being so ALIVE. Trevor Darrell, Ali Azarbayejani, and Dave Becker for their work on the multi-class backsub. Most of all we'd like to thank Bruce Blumberg for providing the behavior code, and for being so cool.