The disabled tasks don't matter for my question. Regarding the left most branch of the enabled portion of the tree: I have a within distance task with an inverter and conditional aborts on the parent sequences up the chain (in the places I believe I need them). I want the left most branch to run any time the agent is not within distance of the target. At the moment it only seems to abort consistently if it is within distance however. So it's doing the exact opposite of what I want, in spite of the inverter. Any ideas?