Apparatus, device, method and computer program for an autonomously acting machine or a computer system

The apparatus for the autonomously acting machine comprises an interface for communicating with a computer system, wherein the computer system is separate from the autonomously acting machine. The apparatus includes a processor for executing machine-readable instructions for providing information about an internal state of the autonomously acting machine to the computer system, obtaining a feedback signal from the computer system, the feedback signal indicating whether sensor data for observing the autonomously acting machine is consistent with the internal state of the autonomously acting machine, and wherein the feedback signal is based on a comparison between a digital twin of the autonomously acting machine and the sensor data, wherein an internal state of the digital twin is based on the internal state of the autonomously acting machine, and operating the autonomously acting machine based on the feedback signal.