Furthermore, we believe that this theoretical base should perform and automate tasks in dynamic environments and in allow new functionalities to evolve hierarchically just like close or direct interaction with humans. Uncertainty about software libraries build on top of each other. We believe so the environment and complexity of the tasks require robots since this would allow the discussions and development to with the ability to reason and plan while being reactive flourish at different levels of abstractions, and allow for better to changes in their environment. To achieve such behavior, synergy with other research fields.