@inproceedings{BergWAFR2010Gravity,
author  = {Jur van den Berg and Stephen Miller and Ken Goldberg and Pieter Abbeel},
title   = {Gravity-Based Robotic Cloth Folding},
booktitle = {Proc. of the 9th International Workshop on the Algorithmic Foundations of Robotics (WAFR)},
year = {2010},
}