We describe an approach for enabling virtual agents residing in virtual MAS (Multi-Agent Systems) to present ubiquity when integrated to AmI ecologies by manifesting behaviors in both virtual and physical environments in order to create autonomous hybrid robotic entities. An autonomous hybrid robotic entity in our approach is a virtual agent connected to and controlling a collection of physical sensors and actuators. We focus on modeling and implementing these
connections based on service oriented principles. This paper presents the BIL (Body Integration Language) and EVATAR middleware for creating these connections along with our ideas for adapting the virtual agent implementations focusing on issues such as discovering and connecting to a suitable collection of sensors and actuators, remote perception and action. We exemplify our ideas by enabling agents in the GOLEM MAS platform to connect with LEGO robot avatars treated as such collections of sensors and actuators.