a robot for accomplishing a mission in a physical environment includes a body ; and an operating system coupled to the body and configured to operate the body . the operating system is divided into a plurality of partitions , which includes a simulation partition configured to receive inputs and simulate the mission in a simulated environment corresponding to the physical environment based on the inputs to produce a simulated result , and a mission partition configured to receive the simulated result and determine actions to accomplish the mission based on the simulated result .