Not in this video, but they have controlled real robots, too:
Well, that and I just don't really care much about robots. The UML Robotics Lab where Mark works does some great stuff, I'm just not that interested in the robotics part.
BTW, the robots here simulate range sensors and video cameras and do not use an environment description to move around. There's a physics engine driving all the movement, too.
The simulation is separate from the UI, so it's very much not an RTS. The robots even get stuck on things in the simulation.
My journey through graduate school has been long and winding, consisting of many different phases:
"Though a program be but three lines long, someday it will have to be maintained." -- The Tao of Programming