It seemed kind of trivial when I first heard about it, but now that I've experimented some with these things it's not that trivial, and it's a reasonable approach. Especially for robotics – an Arduino board isn't a good way to drive a robot (too limited), but it's a good way to drive many (but not all) of the specific components you might want to control. Then the real brain can be a Raspberry Pi or some other proper computer.
but why use this if Pi has support for sensors and stuff already? (other than, "because I've already bought Arduino")
The obvious solution is to create higher-level hardware that the Pi can control without, say, pulsing on a regular interval, or without having to provide the full power requirements via GPIO. An Arduino board is a modular way to do exactly that. The Arduino then becomes the "device".
Johnny-Five programs can run on board any SBC that runs Linux and can support Node.js. For those platforms, GPIO and serial bus interfaces are interacted with directly; examples include Raspberry Pi, Intel Edison (+Galileo 1 & 2, Joule), Tessel 2, Linino and pcDuino