{"id":"https://openalex.org/W7147724300","doi":"https://doi.org/10.48550/arxiv.2603.29585","title":"Learn2Fold: Structured Origami Generation with World Model Planning","display_name":"Learn2Fold: Structured Origami Generation with World Model Planning","publication_year":2026,"publication_date":"2026-02-02","ids":{"openalex":"https://openalex.org/W7147724300","doi":"https://doi.org/10.48550/arxiv.2603.29585"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.29585","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.29585","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.29585","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5132546634","display_name":"Yanjia Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Yanjia","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132548945","display_name":"Yunuo Chen","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen, Yunuo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132543077","display_name":"Ying Jiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiang, Ying","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132668453","display_name":"Jinru Han","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Han, Jinru","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132667271","display_name":"Zhengzhong Tu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tu, Zhengzhong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132712608","display_name":"Yin Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Yin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5129695607","display_name":"Chenfanfu Jiang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiang, Chenfanfu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9623000025749207,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11737","display_name":"Advanced Materials and Mechanics","score":0.9623000025749207,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.009200000204145908,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13518","display_name":"Architecture and Computational Design","score":0.0032999999821186066,"subfield":{"id":"https://openalex.org/subfields/2216","display_name":"Architecture"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/folding","display_name":"Folding (DSP implementation)","score":0.49950000643730164},{"id":"https://openalex.org/keywords/axiom","display_name":"Axiom","score":0.4142000079154968},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.40529999136924744},{"id":"https://openalex.org/keywords/semantics","display_name":"Semantics (computer science)","score":0.37560001015663147},{"id":"https://openalex.org/keywords/constructive","display_name":"Constructive","score":0.33739998936653137},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.32499998807907104},{"id":"https://openalex.org/keywords/disjoint-sets","display_name":"Disjoint sets","score":0.3138999938964844}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.661899983882904},{"id":"https://openalex.org/C2776545253","wikidata":"https://www.wikidata.org/wiki/Q5464292","display_name":"Folding (DSP implementation)","level":2,"score":0.49950000643730164},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.4284000098705292},{"id":"https://openalex.org/C167729594","wikidata":"https://www.wikidata.org/wiki/Q17736","display_name":"Axiom","level":2,"score":0.4142000079154968},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.40529999136924744},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3840999901294708},{"id":"https://openalex.org/C184337299","wikidata":"https://www.wikidata.org/wiki/Q1437428","display_name":"Semantics (computer science)","level":2,"score":0.37560001015663147},{"id":"https://openalex.org/C2778701210","wikidata":"https://www.wikidata.org/wiki/Q28130034","display_name":"Constructive","level":3,"score":0.33739998936653137},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.32499998807907104},{"id":"https://openalex.org/C45340560","wikidata":"https://www.wikidata.org/wiki/Q215382","display_name":"Disjoint sets","level":2,"score":0.3138999938964844},{"id":"https://openalex.org/C2775955345","wikidata":"https://www.wikidata.org/wiki/Q7449071","display_name":"Semantic mapping","level":2,"score":0.30730000138282776},{"id":"https://openalex.org/C194583477","wikidata":"https://www.wikidata.org/wiki/Q408891","display_name":"Physical law","level":2,"score":0.30379998683929443},{"id":"https://openalex.org/C116672817","wikidata":"https://www.wikidata.org/wiki/Q1454986","display_name":"Physical system","level":2,"score":0.30169999599456787},{"id":"https://openalex.org/C155911833","wikidata":"https://www.wikidata.org/wiki/Q3817354","display_name":"Spatial intelligence","level":2,"score":0.2903999984264374},{"id":"https://openalex.org/C202615002","wikidata":"https://www.wikidata.org/wiki/Q783507","display_name":"Differentiable function","level":2,"score":0.2809999883174896},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.27970001101493835},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.2791999876499176},{"id":"https://openalex.org/C66153294","wikidata":"https://www.wikidata.org/wiki/Q899291","display_name":"CASP","level":4,"score":0.27549999952316284}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.29585","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.29585","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.29585","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.29585","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"The":[0],"ability":[1],"to":[2,102,147],"transform":[3],"a":[4,8,13,34,47,128,140,167,174,189],"flat":[5],"sheet":[6],"into":[7,67],"complex":[9,203],"three-dimensional":[10],"structure":[11],"is":[12,23,146],"fundamental":[14],"test":[15],"of":[16,197],"physical":[17,58,74,152,180,221],"intelligence.":[18],"Unlike":[19],"cloth":[20],"manipulation,":[21],"origami":[22,49,111,133],"governed":[24],"by":[25],"strict":[26],"geometric":[27],"axioms":[28],"and":[29,60,97,182,204,219],"hard":[30],"kinematic":[31],"constraints,":[32],"where":[33],"single":[35],"invalid":[36],"crease":[37],"or":[38],"collision":[39],"can":[40],"invalidate":[41],"the":[42,214],"entire":[43],"folding":[44,106,112,134,160,200],"sequence.":[45],"As":[46],"result,":[48],"demands":[50],"long-horizon":[51],"constructive":[52],"reasoning":[53,218],"that":[54,131,178,208],"jointly":[55],"satisfies":[56],"precise":[57],"laws":[59],"high-level":[61],"semantic":[62,96,149],"intent.":[63],"Existing":[64],"approaches":[65],"fall":[66],"two":[68],"disjoint":[69],"paradigms:":[70],"optimization-based":[71],"methods":[72],"enforce":[73],"validity":[75],"but":[76],"require":[77],"dense,":[78],"precisely":[79],"specified":[80],"inputs,":[81],"making":[82],"them":[83],"unsuitable":[84],"for":[85,202],"sparse":[86],"natural":[87],"language":[88,156],"descriptions,":[89],"while":[90,166],"generative":[91],"foundation":[92],"models":[93],"excel":[94],"at":[95],"perceptual":[98],"synthesis":[99],"yet":[100],"fail":[101],"produce":[103],"long-horizon,":[104],"physics-consistent":[105],"processes.":[107],"Consequently,":[108],"generating":[109],"valid":[110,199],"sequences":[113,201],"directly":[114],"from":[115,151,162,213],"text":[116,164],"remains":[117],"an":[118],"open":[119],"challenge.":[120],"To":[121],"address":[122],"this":[123],"gap,":[124],"we":[125],"introduce":[126],"Learn2Fold,":[127],"neuro-symbolic":[129],"framework":[130],"formulates":[132],"as":[135,173],"conditional":[136],"program":[137],"induction":[138],"over":[139],"crease-pattern":[141],"graph.":[142],"Our":[143],"key":[144],"insight":[145],"decouple":[148],"proposal":[150],"verification.":[153],"A":[154],"large":[155],"model":[157,171],"generates":[158],"candidate":[159],"programs":[161],"abstract":[163],"prompts,":[165],"learned":[168],"graph-structured":[169],"world":[170],"serves":[172],"differentiable":[175],"surrogate":[176],"simulator":[177],"predicts":[179],"feasibility":[181],"failure":[183],"modes":[184],"before":[185],"execution.":[186],"Integrated":[187],"within":[188],"lookahead":[190],"planning":[191],"loop,":[192],"Learn2Fold":[193],"enables":[194],"robust":[195],"generation":[196],"physically":[198],"out-of-distribution":[205],"patterns,":[206],"demonstrating":[207],"effective":[209],"spatial":[210],"intelligence":[211],"arises":[212],"synergy":[215],"between":[216],"symbolic":[217],"grounded":[220],"simulation.":[222]},"counts_by_year":[],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2026-04-02T00:00:00"}
