diff --git a/src/main/resources/scripts/behavior.lua b/src/main/resources/scripts/behavior.lua
index 4e9b4b60..27034345 100644
--- a/src/main/resources/scripts/behavior.lua
+++ b/src/main/resources/scripts/behavior.lua
@@ -71,7 +71,13 @@ local function blackboardSet(self, t, key, value)
 end
 
 function blackboardPrototype:set(t, key, value)
-	blackboardSet(self, mappedParameterTypes[t], key, value)
+	local lookup = mappedParameterTypes[t]
+
+	if not lookup then
+		error('unknown blackboard value type ' .. tostring(t))
+	end
+
+	blackboardSet(self, lookup, key, value)
 end
 
 function blackboardPrototype:setRaw(t, key, value)
@@ -263,21 +269,18 @@ do
 			return FAILURE
 		end
 
-		if nodeStatus == nil then
-			--table.remove(stack)
-			return RUNNING
-		end
-
 		if nodeExtra ~= nil then
 			blackboard:setOutput(self, nodeExtra)
 		end
 
 		--table.remove(stack)
 
-		if nodeStatus then
-			return SUCCESS
-		else
+		if nodeStatus == nil then
+			return RUNNING
+		elseif nodeStatus == false then
 			return FAILURE
+		else
+			return SUCCESS
 		end
 	end
 end
@@ -342,22 +345,12 @@ do
 				return FAILURE
 			end
 
-			if nodeStatus == nil then
-				local s = coroutine_status(coroutine)
-
-				if s == 'dead' then
-					-- quite unexpected, but whatever
-					--table.remove(stack)
-					return SUCCESS
-				else
-					self.coroutine = coroutine
-				end
-			elseif nodeStatus then
-				--table.remove(stack)
+			if nodeStatus == true then
 				return SUCCESS
-			else
-				--table.remove(stack)
+			elseif nodeStatus == false then
 				return FAILURE
+			else
+				self.coroutine = coroutine
 			end
 		end
 
@@ -377,27 +370,10 @@ do
 				return FAILURE
 			end
 
-			if nodeStatus == nil then
-				-- another yield OR unexpected return?
-
-				local s = coroutine_status(self.coroutine)
-
-				if s == 'dead' then
-					self.coroutine = nil
-					--table.remove(stack)
-					return SUCCESS
-				end
-			else
-				-- yield or return with status
-				self.coroutine = nil
-
-				if nodeStatus then
-					--table.remove(stack)
-					return SUCCESS
-				else
-					--table.remove(stack)
-					return FAILURE
-				end
+			if nodeStatus == true then
+				return SUCCESS
+			elseif nodeStatus == false then
+				return FAILURE
 			end
 		end
 	end
@@ -461,6 +437,9 @@ function seqNode:run(delta, blackboard, stack)
 
 		self.index = self.index + 1
 	end
+
+	if isSelector then return FAILURE end
+	return SUCCESS
 end
 
 function seqNode:reset()
@@ -594,13 +573,19 @@ function dynNode:run(delta, blackboard, stack)
 	self.calls = self.calls + 1
 	--table.insert(stack, 'DynamicNode')
 
-	for i, node in ipairs(self.children) do
-		local status = runAndReset(node, delta, blackboard, stack)
+	local i = 1
+	local children = self.children
 
-		if stauts == FAILURE and self.index == i then
+	while i <= self.index do
+		local child = children[i]
+		local status = runAndReset(child, delta, blackboard, stack)
+
+		if status == FAILURE and i == self.index then
 			self.index = self.index + 1
-		elseif status ~= RUNNING and i < self.index then
-			node:reset()
+		end
+
+		if i < self.index and (status == SUCCESS or status == RUNNING) then
+			child:reset()
 			self.index = i
 		end
 
@@ -608,6 +593,8 @@ function dynNode:run(delta, blackboard, stack)
 			--table.remove(stack)
 			return status
 		end
+
+		i = i + 1
 	end
 
 	--table.remove(stack)
@@ -692,9 +679,10 @@ end
 local statePrototype = {}
 statePrototype.__index = statePrototype
 
-function statePrototype:ctor(blackboard, root)
+function statePrototype:ctor(blackboard, root, name)
 	self.root = root
 	self._blackboard = blackboard
+	self.name = name or 'unnamed'
 
 	return self
 end