Related papers: Learn2Fold: Structured Origami Generation with Wor…

Electro-thermally actuated origami provides a novel method for creating 3-D systems with advanced morphing and functional capabilities. However, it is currently difficult to simulate the multi-physical behavior of such systems because the…

Thick origami structures are considered here as assemblies of polygonal panels hinged to each other along their edges according to a corresponding origami crease pattern. The determination of the internal actions caused by external loads in…

Why is it difficult to refold a previously folded sheet of paper? We show that even crease patterns with only one designed folding motion inevitably contain an exponential number of `distractor' folding branches accessible from a…

Vision-language models (VLMs) have shown strong performance on static visual understanding, yet they still struggle with dynamic spatial reasoning that requires imagining how scenes evolve under egocentric motion. Recent efforts address…

This study explores the use of origami composite structures as active aerodynamic control surfaces. Towards this goal, two origami concepts were designed leveraging a combination of analytical and finite element modeling, and computational…

Making kirigami-inspired cuts into a sheet has been shown to be an effective way of designing stretchable materials with metamorphic properties where the 2D shape can transform into complex 3D shapes. However, finding the optimal solutions…

We investigate the graphs formed from the vertices and creases of an origami pattern that can be folded flat along all of its creases. As we show, this is possible for a tree if and only if the internal vertices of the tree all have even…

The effective communication of procedural knowledge remains a significant challenge in natural language processing (NLP), as purely textual instructions often fail to convey complex physical actions and spatial relationships. We address…

Despite the popularity and widespread use of semi-structured data formats such as JSON, end-to-end supervised learning applied directly to such data remains underexplored. We present ORIGAMI (Object RepresentatIon via Generative…

We introduce a new class of thin flexible structures that morph from a flat shape into prescribed 3D shapes without an external stimulus such as mechanical loads or heat. To achieve control over the target shape, two different concepts are…

Automatically creating a computer program using input-output examples can be a challenging task, especially when trying to synthesize computer programs that require loops or recursion. Even though the use of recursion can make the…

Significant strides have been made toward designing better generative models in recent years. Despite this progress, however, state-of-the-art approaches are still largely unable to capture complex global structure in data. For example,…

Physical intelligence -- anticipating and shaping the world from partial, multisensory observations -- is critical for next-generation world models. We propose FOLIAGE, a physics-informed multimodal world model for unbounded accretive…

Many real-world safety-critical systems are governed by explicit rules that define unsafe world configurations and constrain agent interactions. In practice, these rules are complex and context-dependent, making manual specification…

Origami is the art of paper folding, and it borrows its name from two Japanese words \emph{ori} and \emph{kami}. In Japanese, {ori} means folding, and the paper is called {kami}. While origami is just a hobby to most, there is a lot more to…

Standard Chain-of-Thought (CoT) prompting empowers Large Language Models (LLMs) with reasoning capabilities, yet its reliance on linear natural language is inherently insufficient for effective world modeling in embodied tasks. While text…

Programmable folding of elastic sheets typically relies on predefined flexible creases or active materials-enabled hinges, which lack intrinsic bistability and limit reprogrammability within a single structure. Here, we present a…

Origami structures have been proposed as a means of creating three-dimensional structures from the micro- to the macroscale, and as a means of fabricating mechanical metamaterials. The design of such structures requires a deep understanding…

In robot learning, it is common to either ignore the environment semantics, focusing on tasks like whole-body control which only require reasoning about robot-environment contacts, or conversely to ignore contact dynamics, focusing on…

Given a natural language instruction and an input scene, our goal is to train a model to output a manipulation program that can be executed by the robot. Prior approaches for this task possess one of the following limitations: (i) rely on…