Maybe BMO had a kid? Actually I have no idea how a sentient robot came into existence in the first place...
Finn always loses an arm. When he imagines himself as an adult he has a robotic arm as well.
I think any time line but the actual one will end up with a robot armed finn. It might suggest that this was in fact a dream, as Finn looks quite similar as a pillow world adult as he did as a daydream adult.