Herbert was programmed to wander around office areas, go into peoples offices and steal empty soda cans (no mention was made as to how it differentiated between empty and non-empty soda cans). It has the following low-level abilities: obstacle avoidance, wall following, real-time recognition of soda can-like objects and desk-like objects, and a set of 15 behaviors which drive the arm to physically search for a soda can.