Complex sentence: A robot uses its own real hardware to extract sensation and actuation data, then uses this data to infer a physical simulation (self-model) containing aspects such as its own morphology as well as characteristics of the environment.
Split into simpler sentences: A robot uses its own real hardware to extract sensation and actuation data. Then a robot uses this data to infer a physical simulation (self-model) containing aspects such as its own morphology as well as characteristics of the environment.