@article{MillerIJRR2012Geometric,
  title={A geometric approach to robotic laundry folding},
  author={Stephen Miller and Jur Van Den Berg and Mario Fritz and Trevor Darrell and Ken Goldberg and Pieter Abbeel},
  journal={The International Journal of Robotics Research (IJRR)},
  volume={31},
  number={2},
  pages={249--267},
  year={2012},
  publisher={SAGE Publications}
}