Related papers: Learn2Fold: Structured Origami Generation with Wor…
We develop a theoretical framework for rigid origami, and show how this framework can be used to connect rigid origami and results from cognate areas, such as the rigidity theory, graph theory, linkage folding and computer science. First,…
The ability to grasp objects in-the-wild from open-ended language instructions constitutes a fundamental challenge in robotics. An open-world grasping system should be able to combine high-level contextual with low-level physical-geometric…
Intelligent agents must reason over both continuous dynamics and discrete representations to generate effective plans in complex environments. Previous studies have shown that symbolic abstractions can emerge from neural effect predictors…
Structured reasoning over natural language inputs remains a core challenge in artificial intelligence, as it requires bridging the gap between unstructured linguistic expressions and formal logical representations. In this paper, we propose…
Spatial intelligence is a critical frontier for Multimodal Large Language Models (MLLMs), empowering them to comprehend the physical world. Drawing inspiration from human perception mechanisms, prior studies attempt to construct a spatial…
We consider the zero-energy deformations of periodic origami sheets with generic crease patterns. Using a mapping from the linear folding motions of such sheets to force-bearing modes in conjunction with the Maxwell-Calladine index theorem…
Origami structures have been widely explored in robotics due to their many potential advantages. Origami robots can be very compact, as well as cheap and efficient to produce. In particular, they can be constructed in a flat format using…
Language-guided long-horizon manipulation of deformable objects presents significant challenges due to high degrees of freedom, complex dynamics, and the need for accurate vision-language grounding. In this work, we focus on multi-step…
Traditional origami structures can be continuously deformed back to a flat sheet of paper, while traditional kirigami requires glue or seams in order to maintain its rigidity. In the former, non-trivial geometry can be created through…
The ability to automatically generate large-scale, interactive, and physically realistic 3D environments is crucial for advancing robotic learning and embodied intelligence. However, existing generative approaches often fail to capture the…
We develop an intrinsic necessary and sufficient condition for single-vertex origami crease patterns to be able to fold rigidly. We classify such patterns in the case where the creases are pre-assigned to be mountains and valleys as well as…
Mobile robots require comprehensive scene understanding to operate effectively in diverse environments, enriched with contextual information such as layouts, objects, and their relationships. Although advances like neural radiation fields…
We introduce the study of forcing sets in mathematical origami. The origami material folds flat along straight line segments called creases, each of which is assigned a folding direction of mountain or valley. A subset $F$ of creases is…
This paper investigates robot manipulation based on human instruction with ambiguous requests. The intent is to compensate for imperfect natural language via visual observations. Early symbolic methods, based on manually defined symbols,…
In this paper, we study the problem of generating structured objects that conform to a complex schema, with intricate dependencies between the different components (facets) of the object. The facets of the object (attributes, fields,…
Large Language Models (LLMs) excel in complex reasoning tasks but struggle with consistent rule application, exception handling, and explainability, particularly in domains like legal analysis that require both natural language…
Curve-fold origami, composed of developable panels joined along a curved crease, exhibits rich dynamic behaviors relevant to metamaterials and soft robotic systems. Despite multiple approximated models, a comprehensive and exact dynamical…
In this paper, we show that deciding rigid foldability of a given crease pattern using all creases is weakly NP-hard by a reduction from Partition, and that deciding rigid foldability with optional creases is strongly NP-hard by a reduction…
We present a framework for generating physically realizable assembly instructions from natural language descriptions. Unlike unconstrained text-to-3D approaches, our method operates within a discrete parts vocabulary, enforcing geometric…
The art and science of folding intricate three-dimensional structures out of paper has occupied artists, designers, engineers, and mathematicians for decades, culminating in the design of deployable structures and mechanical metamaterials.…