In my blog of 4 March 2015 I identified a fragment of Asa's hierarchical case vector memory which constitutes an initial concept of self. I am watching this concept grow as Asa continues to interact with its environment. Asa has added (or modified) the vectors (concepts):
push=(move to, touch, feel contact force)
kick=(ball near, push, ball far)
self=(health, grasp, kick)
What concepts are learned clearly depends upon the bot's detailed anatomy, sensors, and actuators. In a different world quite different concepts evolve.