I'm not an expert but the video is very comprehensive. There is closed loop control that is extremely precise in a relative way. In this domain it's all relative anyway because there's no GPS so to speak. It's all reference frames and 3-2-1 locality. [edit: ahhh at 21:47 in the video he says (paraphrasing) "there is offset due to thermal drift of the plastic parts as they get warmed by the motors". ]