Method for automatically generating a behavior tree program for controlling a machine

An assistance system for assisted generating a behavior tree program for a machine, comprising a programming interface, an observer unit, a logging unit and an inference unit, wherein

• the interface unit is configured to transmit a sequence of machine commands input by a user from the user interface to a controller, and to receive supervision data from the controller while the machine commands are executed in the controller controlling the machine,
• the observer unit is configured to observe and to copy the machine commands and the supervision data transmitted between the controller and the user interface,
• the logging unit is configured to store the machine commands and the supervision data, and
• the inference unit is configured to generate a behavior tree program derived from the stored machine commands and supervision data by statistical inference, and to send the generated behavior tree program at the controller unit to operate the machine.