Building our Behavior Architecture

In this chapter we’ll tell the story of how our behavior system was inspired, designed, and built over roughly a 10-year time period. Ultimately, we’ll reveal the current design as a snapshot in time in the year 2026, as it is still in active development. The story arc of the behavior system spans from roughly 2014 in the run-up to the DARPA Robotics Challenge (DRC) finals , in which our DRC Atlas robot could perform 8 tasks in 1 hour under scrutinous direct teleoperation, to 2026 when our IHMC Alex humanoid robot can perform door traversals and multi-station loco-manipulation sorting tasks automatically in the tens of seconds regime and with high levels of operator neglect.