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2. Embodied visuomotor representation

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   Burner, Levi; Fermüller, Cornelia; Aloimonos, Yiannis (December 2025, npj Robotics)

   DeCroon, Guido (Ed.)

   Abstract Imagine sitting at your desk, looking at objects on it. You do not know their exact distances from your eye in meters, but you can immediately reach out and touch them. Instead of an externally defined unit, your sense of distance is tied to your action’s embodiment. In contrast, conventional robotics relies on precise calibration to external units, with which vision and control processes communicate. We introduceEmbodied Visuomotor Representation, a methodology for inferring distance in a unit implied by action. With it a robot without knowledge of its size, environmental scale, or strength can quickly learn to touch and clear obstacles within seconds of operation. Likewise, in simulation, an agent without knowledge of its mass or strength can successfully jump across a gap of unknown size after a few test oscillations. These behaviors mirror natural strategies observed in bees and gerbils, which also lack calibration in an external unit. 

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3. Amortizing Embodied Carbon Across Generations

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   Data centers have been relying on renewable energy integration coupled with energy efficient specialized processing units and accelerators to increase sustainability. Unfortunately, the carbon generated from manufacturing these systems is be- coming increasingly relevant due to these energy decarbonization and efficiency improvements. Furthermore, it is less clear how to mitigate this aspect of embodied carbon. As workloads continue to evolve over each hardware generation we explore the tradeoffs of fabricating new application-tuned hardware compared with more general solutions such as Field Programmable Gate Arrays (FPGAs). We also explore how REFRESH FPGAs can amortize embodied carbon investments from previous generations to meet the requirements of future generations workloads. 

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4. Embodied Action Scaffolds Dialogic Reading

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   Li, Da; Menassa, Carol C.; Kamat, Vineet R.; Byon, Eunshin (July 2020, Building and Environment)

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