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You are blind and from the hints you get by moving around (for example hiting a wall you stay at the same place) you try to reconstruct the map on paper. And then you can validate by pressing "Chart".

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For example in the gif you posted you started in the top left corner which is a hole. A hole brings you to a connected hole. In your case the connected hole turned out to have another hole exactly above it (#2). Then you pressed right a bunch of time so you  looped between the holes labeled "2" until you escaped by pressing bottom to a free space. And so on. The readme explains the logic of different tiles you can encounter.