Workers have not been able to go inside the reactor buildings at the stricken plant since the first days after the its cooling systems were wrecked by the March 11 earthquake and tsunami that left more than 27,000 people dead or missing. Hydrogen explosions in both buildings in the first few days destroyed their roofs and scattered radioactive debris.

On Sunday, a plant worker opened an outer door to one of the buildings and two Packbots, which resemble drafting lamps on tank-like treads, entered. After the worker closed the door, one robot opened an inner door and both rolled inside to take readings for temperature, pressure and radioactivity. They later entered a second building.

The robots reported radioactivity readings of up to 49 millisieverts per hour inside Unit 1 and up to 57 inside Unit 3, levels too high for workers to realistically enter.

“It’s a harsh environment for humans to work inside,” said Hidehiko Nishiyama of Japan’s Nuclear and Industrial Safety Agency.