I don't believe he did. It sounds like Robo did something pretty basic which doesn't even prove magic exists. In fact it's a very pragmatic way someone who's very skeptical could also use a sigil because everything he did is theoretically very helpful. Making a sigil is sort of like hypnosis, it bypasses the critical barrier to send commands directly to the unconscious. It only becomes magical when you agree that the unconscious creates your reality. But your ability to have a lucid dream is still in accordance with not-necessarily-magical phenomena