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How to Program a Sex Robot: List-Based vs Open World
There are two ways to approach the programming of sexuality & sexual functions into a sex robot.

Sex can be envisioned as a set of serialized, goal-oriented tasks that must be accomplished in a given order by the bot. Or sex can be explored as an open world experience with side missions available that allow the bot to deviate from the primary objective in order to aggregate more experience/pleasure/adventure points.

In the list-based model, the bot is programmed with a number of checkpoints it must reach with its human partner. These may include items such as Comfort, Attraction, Consent, Arousal, Physical Stimulation, Climax, and finally Auto-Climax (if the bot’s reward system is programmed to include some kind of auto-climax function).

These checkpoints may not need to be reached in a strict chronological order: Consent, for instance, may come before or after Comfort. Certain thresholds would, however, have to be reached before others: Consent would need to come before Physical Stimulation, and Arousal would usually come before Climax.

A list-based model gives the bot a clear set of goals which may be reached by performing a varied but limited set of tasks. This simple, straightforward model avoids confusing the bot and ensures that a safe, acceptable-minimum level of pleasure is guaranteed to the human partner.

Open World
The open world model may still include many of the same primary objectives, but these are accompanied by a layer of secondary objectives which can be more open-ended. These secondary objectives can be treated as side missions which may or may not directly contribute to the primary sexual objectives, but which may be based on an alternative reward system made to emulate in some ways the human sense of adventure.

Having sex under the stars, for instance, may actually detract from the primary objectives of Arousal and Climax due to temperature or comfort factors. As such it would have no place in the list-based sexual model.

In the open world model, however, the bot is programmed to see value beyond its rote set of basic tasks, and perhaps even to recognize the uncommon as a kind of value in itself (within certain limitations). It is thus driven to seek experiences and adventures that deviate from the fundamental elements of its sexual functions.

This can then become a sort of ‘Let’s Try This…’ subroutine which can be inserted as an IF-THEN initiative loop to be presented to the human partner for final approval during any given sexual encounter.

Trying out new sexual functions, activities, locations, velocities, and angles may be added to the bot’s reward system as an expansion pack to ensure the bot’s programming continues to evolve as it learns new things, as well as to avoid monotony for the human partner. The bot’s primary objectives would, of course, still remain as overarching principles running in the background, gently guiding the side missions, and available to be completed whenever desired by the human partner.