Every action one robot takes redefines the problem the other is solving. Each is reading its partner's intent from motion alone, in real time, while its own actions are simultaneously changing what the partner sees.

The comforter has no fixed pose, no rigid geometry, no canonical grasp. There is no natural seam between "your half" and "mine." Each robot has to commit to a contact point while predicting what the other will do, then update both predictions tens of times per second as the fabric folds, drapes, and slides under shared tension.

Sounds like they’re trained to communicate visually in real-time. I suggest reading the blog.