How does xlerobot achieve navigation?"xlerobot是怎么实现导航的

How does this robot achieve navigation?"What type of camera is used for vision? What model is used for navigation? And on which platform is the program/model running?"这个机器人是如何实现导航的？视觉用的什么摄像头？导航模型用的什么模型？在什么平台上跑的程序模型？