http://glfwtfwhlsm2u5pw3b7crist7bt7fwepj2wgv3n3b64unj22v5435tyd.onion/blog/2019/11/05/Incarnations-of-modularity.html
Only sensors with an equivalent in humans were allowed (no GPS, Radar, Lidar, ultrasonic) so they had to rely on cameras as a primary input. The Beginnings 2008 was one year after the first iPhone was released.
That was way before people even thought about devices like Raspberry PIs!