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architecture that generalizes across embodiments. The overarching ambition is to advance the foundations of a universal science of embodied AI, where perception, action, and learning are co-designed to support
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capabilities within the underwater domain, and to ensure that a unified modelling approach can operate across robot embodiments – air, ground, and marine. Achieving this requires new simulation tools, scalable
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the broader framework of Embodied AI. The goal is to integrate physical models with deep learning to create interpretable, data-driven observers that enable physically grounded perception and control for robust
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