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Lem is not suggesting that robots could create themselves from metal and other materials spontaneously. In the novel, he hypothesizes how an adaptable swarm of very simple machines could have evolved from the homeostatic robots of a highly advanced society.
He begins by hypothesizing that the original ancestors of the swarm of nanomachines were various robots from a Lyre scout ship.
Lem also argues that, in the event of machine evolution, the larger and more complex robots created by organic beings (like ourselves) would fare poorly against simpler machine forms, at least partly because of energy requirements:
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