Abstract: An initial environment navigation model for a physical environment may be determined based on sensor data collected from a mobile enrollment device. The sensor data may include data collected from a first one or more cameras at the mobile enrollment device. The initial environment navigation model may be sent to a robot via a communication interface. The robot may be instructed to autonomously navigate the physical environment based on the initial environment navigation model and additional sensor data collected by the robot. An updated environment navigation model for the physical environment may be determined based on the initial environment navigation model and the additional sensor data.