They do show in the video the robot putting down steel beams for those lintels to be fair, so they have obviously planned for it.
Along the same lines I have been sketching designs for a robot to lay down 2-part foam, wire mesh and shotcrete, though I have been trying to work out if I can get it to climb its own wall, rather than needing a giant crane.
Depends on the build speed. It could "print in" holes into the wall and use a scissor action ... but I don't think that would work. You want the whole concrete/ferro cement to setup at once. An overhead cement pump and a much smaller more precise placement head/nozzle would probably be a better choice. Anything you can reuse from existing construction tech the cheaper.
Along the same lines I have been sketching designs for a robot to lay down 2-part foam, wire mesh and shotcrete, though I have been trying to work out if I can get it to climb its own wall, rather than needing a giant crane.