The big question that may be on many viewers’ minds is whether the robots are truly navigating the course on their own—making real-time decisions about how high to jump or how far to extend a foot—or if they’re pre-programmed to execute each motion according to a detailed map of the course.

As engineers explain in a second new video and accompanying blog post, it’s a combination of both.

Atlas is equipped with RGB cameras and depth sensors to give it “vision,” providing input to its control system, which is run on three computers. In the dance video linked above and previous videos of Atlas doing parkour, the robot wasn’t sensing its environment and adapting its movements accordingly (though it did make in-the-moment adjustments to keep its balance).