Is there any LaTeX package for typesetting algorithms in the style Donald Knuth uses in *The Art of Computer Programming*?

I know about the [`algorithm2e`](http://www.tug.org/texlive/Contents/live/texmf-dist/doc/latex/algorithm2e/algorithm2e.pdf) package, but I am looking for something that produces output like this:

**1.** [Check for lower bound.] If `X < lower_bound`, go to 3.

**2.** [Check for upper bound.] If `X > upper_bound`, go to 4.

...

I suppose I can use `\newcommand` and define my own macro, but I was hoping for something with more intelligence.