Related papers: Learn2Fold: Structured Origami Generation with Wor…
Non-Euclidean surfaces are ubiquitous in numerous engineering fields, such as automotive, aerospace, and biomedical engineering domains. Morphing origami has numerous potential engineering applications, including soft robots, mechanical…
Enabling robots to learn long-horizon manipulation tasks from a handful of demonstrations remains a central challenge in robotics. Existing neuro-symbolic approaches often rely on hand-crafted symbolic abstractions, semantically labeled…
In this paper, we will show methods to interpret some rigid origami with higher degree vertices as the limit case of structures with degree-4 supplementary angle vertices. The interpretation is based on separating each crease into two…
The application of rule-based reinforcement learning (RL) to multimodal large language models (MLLMs) introduces unique challenges and potential deviations from findings in text-only domains, particularly for perception-heavy tasks. This…
3D objects (artefacts) are made to fulfill functions. Designing an object often starts with defining a list of functionalities that it should provide, also known as functional requirements. Today, the design of 3D object models is still a…
Origami metamaterials made of repeating unit cells of parallelogram panels joined at folds dramatically change their shape through a collective motion of their cells. Here we develop an effective elastic model and numerical method to study…
We explore the surprisingly rich energy landscape of origami-like folding planar structures. We show that the configuration space of rigid-paneled degree-4 vertices, the simplest building blocks of such systems, consists of at least two…
An oritatami system (OS) is a theoretical model of self-assembly via co-transcriptional folding. It consists of a growing chain of beads which can form bonds with each other as they are transcribed. During the transcription process, the…
Understanding and reasoning about dynamics governed by physical laws through visual observation, akin to human capabilities in the real world, poses significant challenges. Currently, object-centric dynamic simulation methods, which emulate…
Rigid origami is a branch of origami with great potential in engineering applications to deal with rigid-panel folding. One of the challenges is to compactly fold the polyhedra made from rigid facets with a single degree of freedom. In this…
The geometric, aesthetic, and mathematical elegance of origami is being recognized as a powerful pathway to self-assembly of micro and nano-scale machines with programmable mechanical properties. The typical approach to designing the…
Spatial reasoning is a fundamental aspect of human cognition, enabling intuitive understanding and manipulation of objects in three-dimensional space. While foundation models demonstrate remarkable performance on some benchmarks, they still…
We propose Text2Motion, a language-based planning framework enabling robots to solve sequential manipulation tasks that require long-horizon reasoning. Given a natural language instruction, our framework constructs both a task- and…
A world model is an AI system that simulates how an environment evolves under actions, enabling planning through imagined futures rather than reactive perception. Current world models, however, suffer from visual conflation: the mistaken…
Effectively translating between natural language (NL) and formal logics like Linear Temporal Logic (LTL) requires expertise that limits formal verification's reach in safety-critical development. Template-based approaches sacrifice…
Developing constitutive models that capture how materials deform under load traditionally requires years of specialized expertise in continuum mechanics, machine learning, and scientific programming. Large language models (LLMs) have…
An efficient way to introduce elastic energy that can bias an origami structure toward desired shapes is to allow curved tiles between the creases. The bending of the tiles supplies the energy and the tiles themselves may have additional…
Non-Euclidean origami is a promising technique for designing multistable deployable structures folded from nonplanar developable surfaces. The impossibility of flat foldability inherent to non-Euclidean origami results in two disconnected…
Object-based factorizations provide a useful level of abstraction for interacting with the world. Building explicit object representations, however, often requires supervisory signals that are difficult to obtain in practice. We present a…
Existing Civil Engineering structures have limited capability to adapt their configurations for new functions, non-stationary environments, or future reuse. Although origami principles provide capabilities of dense packaging and…