A computer implemented method for automatically generating a behavior tree program for controlling a machine includes the steps of: transmitting a sequence of machine commands input by a user from a user interface to a controller, receiving supervision data in the user interface from the controller while the machine commands are executed in the controller controlling the machine, observing and copying the machine commands and supervision data transmitted between the controller and the user interface, storing the machine commands and the supervision data in a logging unit, generating a behavior tree program derived from the stored machine commands and the supervision data by statistical inference, and sending the generated behavior tree program to the controller unit to control the machine.