Step 1: Initial prompt (prompt level = 1).
	Behavior(1)=BF (RobAction(1),EnviFactor(1))
	Resp(1)=ICD (Behavior(1))
	If Resp(1)=ExpResp
		Reward
		Go to Step 3
Step 2: Iterative prompting loop.
	For prompt level n =2: IN
		[RobAction(n),EnviFactor(n)]=PF (Resp(n-1))
		Behavior(n)=BF (RobAction(n),EnviFactor(n))
		Resp(n)=ICD (Behavior(n))
		If Resp(n)=ExpResp
				Reward
			Break
		n = n + 1
Step 3: Termination.
	Robot naturally stops the interaction