In appendix A1 of the homotopy type theory book by the Univalent Foundations Project, the authors give a formal presentation of Martin-Löf type theory in lambda calculus. However, they did not give any formulation of univalence or any higher inductive types in appendix A1. The circle type does appear later in appendix A3, as well as univalence, but both were formulated in natural deduction rather than in lambda calculus.
How would one go about defining univalence and higher inductive types (say the circle type) in the lambda calculus model of Martin-Löf type theory?