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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.
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If you steal from one author it's plagiarism; if you steal from many it's research. -- Wilson Mizner