1. Perception
Cameras, tactile sensors, proprioception and other signals provide observations of the environment and robot state.
2. Reasoning
Higher-level models interpret goals, context, spatial relationships and multi-step tasks.
3. Planning
Planning converts goals into sequences or trajectories that can be executed.
4. Policy
Learned policies map observations and context to actions.
5. Control
Controllers translate desired behavior into actuator-level commands while respecting physical constraints.
6. Simulation & Data
Simulation, demonstrations and real-world interaction provide experience for training and evaluation.
7. Hardware
Embodiment ultimately depends on sensors, actuators, compute, power, mechanics and end effectors.