All of Pi's actions in this video are fully autonmous and all computations are done by the onboard computer. In other words, there is no one controlling Pi's behavior using any form of remote control. Each aspect of Pi's behavior takes place on a separate thread in his control program. For instance, head tracking is on one thread while orienting his body is on a second thread, and moving his arms is on a third thread. In this way, all three components of his behavior can work independently while passing messages back and forth to keep the other threads informed.
