From a phone walk to a robot that asks.
Record the home with the iPhone app.
The app records colour, LiDAR depth and the ARKit pose at about 4 frames a second. You tap each room as you enter it, then upload. Sign in, record, upload, My maps.
The server builds a measured twin.
OpenCV 5 turns the walk into floor, walls, doors, rooms with their sizes, furniture and landmarks, as one house.json, plus a 3D view, a MuJoCo scene and now a USD stage for Isaac Sim. A browser editor fixes room names.
One turn on the spot, no stickers.
The robot turns once and stacks its 8×8 depth readings into a 360° scan, then matches it against every free spot and heading in the twin. It only counts as found when the best place clearly beats the runner-up, and keeps checking the walls as it walks.
Spoken orders, in your words and language.
Nemotron 3 Nano Omni writes the words down. Nemotron 3 Ultra picks this home's rooms through tool calls over house.json, and the robot says its plan aloud. Vague or unsafe? It asks. “Stop” works at once, without a model.
It walks each room and asks when unsure.
Pollen's Microduck software and its trained walking policy drive a simulated body in the twin of the real flat. When it is lost, or doubts an arrival, it asks a person. Every step goes in a trace, and a film replays it.