arXiv subjects

Erik D. Demaine

Publications and source records attributed to Erik D. Demaine.

At least 19 recordsLinked to original sources

arXiv2026

Tiling 3D by Translates of a Single Polycube is Undecidable

We prove co-RE-completeness, and thus undecidability, of the following problem: given a single (connected) polycube, decide whether it tiles 3D Euclidean space by translations. We reduce from Wang tiling using the decorated two-prime Sudoku construction of Greenfeld and Tao and a cyclic encoding adapted from OpenAI's 3D aperiodic tile, and apply a reduction of Kim to make the prototile connected (via faces). Dimension three is optimal: translational monotiling is known to be decidable in $\mathbb{Z}^2$ and for a single (possibly disconnected) polyomino in $\mathbb{R}^2$.

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arXiv2026

Polyomino Nets Covering Three Different Boxes of Area 106 and Related Results

We present new results for polyomino nets that fold into 2 and 3 different cuboids through a computer search. The main result is the finding of 40 nets that fold into all three different cuboids with a surface area of 106. The secondary results are the finding of infinite families of nets that fold into three cuboid shapes, and the calculation of the number of common nets between smaller cuboids. The algorithms used to make the searches feasible will also be explained. The algorithms include taking advantage of some hidden structures in the nets that fold into the Nx1x1 cuboids, taking advantage of how a lot of nets fold into cuboid shapes in a 'striped' way, and using a variant of Redelmeier's algorithm. The paper ends with open questions that encourage the reader to broaden our collective understanding of the subject of creating polyomino nets.

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arXiv2026

PSPACE-Hard 2D Super Mario Games: Thirteen Doors

We prove PSPACE-hardness for fifteen games in the Super Mario Bros. 2D platforming video game series. Previously, only the original Super Mario Bros. was known to be PSPACE-hard (FUN 2016), though several of the games we study were known to be NP-hard (FUN 2014). Our reductions build door gadgets with open, close, and traverse traversals, in each case using mechanics unique to the game. While some of our door constructions are similar to those from FUN 2016, those for Super Mario Bros. 2, Super Mario Land 2, Super Mario World 2, and the New Super Mario Bros. series are quite different; notably, the Super Mario Bros. 2 door is extremely difficult. Doors remain elusive for just two 2D Mario games (Super Mario Land and Super Mario Run); we prove that these games are at least NP-hard.

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arXiv2026

You Can't Solve These Super Mario Bros. Levels: Undecidable Mario Games

We prove RE-completeness (and thus undecidability) of several 2D games in the Super Mario Bros. platform video game series: the New Super Mario Bros. series (original, Wii, U, and 2), and both Super Mario Maker games in all five game styles (Super Mario Bros. 1 and 3, Super Mario World, New Super Mario Bros. U, and Super Mario 3D World). These results hold even when we restrict to constant-size levels and screens, but they do require generalizing to allow arbitrarily many enemies at each location and onscreen, as well as allowing for exponentially large (or no) timer. Our New Super Mario Bros. constructions fit within one standard screen size. In our Super Mario Maker reductions, we work within the standard screen size and use the property that the game engine remembers offscreen objects that are global because they are supported by "global ground". To prove these Mario results, we build a new theory of counter gadgets in the motion-planning-through-gadgets framework, and provide a suite of simple gadgets for which reachability is RE-complete.

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arXiv2026

Overlapping Unfoldings of Cones and Convex Polyhedra

Research on Dürer's problem focuses on edge unfoldings of convex polyhedra that avoid overlap. We invert the goal and find unfoldings that overlap at some point to any given thickness t. We have two main results. The first is that, if we allow unfolding cuts that do not follow polyhedron edges, then there is a convex polyhedron that can unfold with overlap of any given thickness. The second result is that for any given thickness, there is a convex polyhedron with an edge unfolding that overlaps to that thickness.

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arXiv2026

Pushing Blocks without Fixed Walls via Checkable Gizmos: Push-1 is PSPACE-Complete

We prove PSPACE-completeness of Push-1: given a rectangular grid of 1 x 1 cells, each possibly occupied by a movable block, can a robot move from one specified location to another, given the ability to push up to one block at a time? In particular, we remove the need for fixed (immovable) walls from a 2022 result. This fundamental model of block pushing, introduced in 1999, abstracts the mechanics of many video games. It was shown NP-hard in 2000, but its final complexity remained open for 25 years. Our result uses a new framework for checkable gadgets/gizmos, extending a prior framework for checkable gadgets to handle reconfiguration problems, at the cost of requiring a stronger auxiliary gadget. We also introduce a new connection between the motion-planning-through-gadgets framework (with an agent) and the Graph Orientation Reconfiguration Problem (with no agent), including Nondeterministic Constraint Logic.

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arXiv2026

ASP-Completeness of Hamiltonicity in Grid Graphs, with Applications to Loop Puzzles

We prove that Hamiltonicity in maximum-degree-3 grid graphs (directed or undirected) is ASP-complete, i.e., it has a parsimonious reduction from every NP search problem (including a polynomial-time bijection between solutions). As a consequence, given k Hamiltonian cycles, it is NP-complete to find another; and counting Hamiltonian cycles is #P-complete. If we require the grid graph's vertices to form a full $m \times n$ rectangle, then we show that Hamiltonicity remains ASP-complete if the edges are directed or if we allow removing some edges (whereas including all undirected edges is known to be easy). These results enable us to develop a stronger "T-metacell" framework for proving ASP-completeness of rectangular puzzles, which requires building just a single gadget representing a degree-3 grid-graph vertex. We apply this general theory to prove ASP-completeness of 38 pencil-and-paper puzzles where the goal is to draw a loop subject to given constraints: Slalom, Onsen-meguri, Mejilink, Detour, Tapa-Like Loop, Kouchoku, Icelom; Masyu, Yajilin, Nagareru, Castle Wall, Moon or Sun, Country Road, Geradeweg, Maxi Loop, Mid-loop, Balance Loop, Simple Loop, Haisu, Reflect Link, Linesweeper; Vertex/Touch Slitherlink, Dotchi-Loop, Ovotovata, Building Walk, Rail Pool, Disorderly Loop, Ant Mill, Koburin, Mukkonn Enn, Rassi Silai, (Crossing) Ichimaga, Tapa, Canal View, Aqre, and Paintarea. The last 14 of these puzzles were not even known to be NP-hard. Along the way, we prove ASP-completeness of some simple forms of Tree-Residue Vertex-Breaking (TRVB), including planar multigraphs with degree-6 breakable vertices, or with degree-4 breakable and degree-1 unbreakable vertices.

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arXiv2026

Walking through Doors is Hard, even without Staircases: Universality and PSPACE-hardness of Planar Door Gadgets

An open-close door gadget has two states and three tunnels that can be traversed by an agent (player, robot, etc.): the "opening" and "closing" tunnels set the gadget's state to open and closed, respectively, while the "traverse" tunnel can be traversed if and only if the door is in the open state. We prove that it is PSPACE-complete to decide whether an agent can move from one location to another through a planar system of any such door gadget, removing the traditional need for crossover gadgets and thereby simplifying past PSPACE-hardness proofs of Lemmings and Nintendo games Super Mario Bros., Legend of Zelda, and Donkey Kong Country. Even stronger, we show that any gadget in the motion-planning-through-gadgets framework can be simulated by a planar system of door gadgets: the open-close door gadget is a universal gadget. We prove that these results hold for a variety of door gadgets. In particular, the opening, closing, and traverse tunnel locations can have an arbitrary cyclic order around the door; each tunnel can be directed or undirected; and the opening tunnel can instead be an optional button (with identical entrance and exit locations). Furthermore, we show the same hardness and universality results for two simpler types of door gadgets: self-closing door gadgets and symmetric self-closing door gadgets. Again we show that any self-closing door gadget planarly simulates any gadget, and thus the reachability motion planning problem is PSPACE-complete. Then we apply this framework to prove new PSPACE-hardness results for eight different 3D Mario video games and Sokobond.

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arXiv2026

Tetris is Hard with Just One Piece Type

We analyze the computational complexity of Tetris clearing (determining whether the player can clear an initial board using a given sequence of pieces) and survival (determining whether the player can avoid losing before placing all the given pieces in an initial board) when restricted to a single polyomino piece type. We prove, for any tetromino piece type $P$ except for O, the NP-hardness of Tetris clearing and survival under the standard Super Rotation System (SRS), even when the input sequence consists of only a specified number of $P$ pieces. These surprising results disprove a 23-year-old conjecture on the computational complexity of Tetris with only I pieces (although our result is only for a specific rotation system). As a corollary, we prove the NP-hardness of Tetris clearing when the sequence of pieces has to be able to be generated from a $7k$-bag randomizer for any positive integer $k\geq 1$. On the positive side, we give polynomial-time algorithms for Tetris clearing and survival when the input sequence consists of only dominoes, assuming a particular rotation model, solving a version of a 9-year-old open problem. Along the way, we give polynomial-time algorithms for Tetris clearing and survival with $1\times k$ pieces (for any fixed $k$), provided the top $k-1$ rows are initially empty, showing that our I NP-hardness result needs to have filled cells in the top three rows.

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arXiv2026

Planar Graph Orientation Frameworks, Applied to KPlumber and Polyomino Tiling

Given a graph, when can we orient the edges to satisfy local constraints at the vertices, where each vertex specifies which local orientations of its incident edges are allowed? This family of graph orientation problems is a special kind of SAT problem, where each variable (edge orientation) appears in exactly two clauses (vertex constraints) -- once positively and once negatively. We analyze the complexity of many natural vertex types (patterns of allowed vertex neighborhoods), most notably all sets of symmetric vertex types which depend on only the number of incoming edges. In many scenarios, including Planar and Non-Planar Symmetric Graph Orientation with constants, we give a full dichotomy characterizing P vs. NP-complete problem classes. We apply our results to obtain new polynomial-time algorithms, resolving a 20-year-old open problem about KPlumber; to simplify existing NP-hardness proofs for tiling with trominoes; and to prove new NP-completeness results for tiling with tetrominoes.

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arXiv2025

All Polyhedral Manifolds are Connected by a 2-Step Refolding

We prove that, for any two polyhedral manifolds $\mathcal P,\mathcal Q$, there is a polyhedral manifold $\mathcal I$ such that $\mathcal P,\mathcal I$ share a common unfolding and $\mathcal I,\mathcal Q$ share a common unfolding. In other words, we can unfold $\mathcal P$, refold (glue) that unfolding into $\mathcal I$, unfold $\mathcal I$, and then refold into $\mathcal Q$. Furthermore, if $\mathcal P,\mathcal Q$ have no boundary and can be embedded in 3D (without self-intersection), then so does $\mathcal I$. These results generalize to $n$ given manifolds $\mathcal P_1,\mathcal P_2, \dots, \mathcal P_n$; they all have a common unfolding with the same intermediate manifold $\mathcal I$. Allowing more than two unfold/refold steps, we obtain stronger results for two special cases: for doubly covered convex planar polygons, we achieve that all intermediate polyhedra are planar; and for tree-shaped polycubes, we achieve that all intermediate polyhedra are tree-shaped polycubes.

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arXiv2025

Escaping a Polygon

Suppose an escaping player ("human") moves continuously at maximum speed $1$ in the interior of a region, while a pursuing player ("zombie") moves continuously at maximum speed $r$ outside the region. For what $r$ can the first player escape the region, that is, reach the boundary a positive distance away from the pursuing player, assuming optimal play by both players? We formalize a model for this infinitesimally alternating 2-player game and prove that it has a unique winner in any locally rectifiable region. Our model thus avoids pathological behaviors (where both players can have "winning strategies") previously identified for pursuit-evasion games such as the Lion and Man problem in certain metric spaces. For some specific regions, including both equilateral triangle and square, we give exact results for the critical speed ratio, above which the pursuing player can win and below which the escaping player can win (and at which the pursuing player can win). For simple polygons, we give a simple formula and polynomial-time algorithm that is guaranteed to give a 10.89898-approximation to the critical speed ratio, and we give a pseudopolynomial-time approximation scheme for approximating the critical speed ratio arbitrarily closely. On the negative side, we prove NP-hardness of the problem for polyhedral domains in 3D, and prove stronger results (PSPACE-hardness and NP-hardness even to approximate) for generalizations to multiple escaping and pursuing players.

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arXiv2025

Finding Closed Quasigeodesics on Convex Polyhedra

A closed quasigeodesic is a closed curve on the surface of a polyhedron with at most $180^\circ$ of surface on both sides at all points; such curves can be locally unfolded straight. In 1949, Pogorelov proved that every convex polyhedron has at least three (non-self-intersecting) closed quasigeodesics, but the proof relies on a nonconstructive topological argument. We present the first finite algorithm to find a closed quasigeodesic on a given convex polyhedron, which is the first positive progress on a 1990 open problem by O'Rourke and Wyman. The algorithm also establishes a pseudopolynomial upper bound on the total number of visits to faces (number of line segments), namely, $O\left(\frac{n \, L^2}{ε^2 \, \ell^2}\right)$ where $n$ is the number of vertices of the polyhedron, $ε$ is the minimum curvature of a vertex, $L$ is the length of the longest edge, and $\ell$ is the smallest distance within a face between a vertex and a nonincident edge (minimum feature size of any face). On the real RAM, the algorithm's running time is also pseudopolynomial, namely $O\left(\frac{L^2}{ε^2 \, \ell^2} \, n \lg n\right)$. On a word RAM, the running time grows to $O\left(\frac{b^2 \, Δ^{36} \, L^{146}}{ε^{98} \, \ell^{146}} \, n \lg n \cdot 2^{O(|R|)}\right)$, where $Δ\leq n$ is the polyhedron's maximum vertex degree, assuming the polyhedron's intrinsic geometry is given by constant-size radical expressions with $b$-bit integers and at most $|R|$ distinct square-roots. Along the way, we introduce the expression RAM model of computation, formalizing a connection between the real RAM and word RAM hinted at by past work on exact geometric computation.

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arXiv2025

Who Needs Crossings?: Noncrossing Linkages are Universal, and Deciding (Global) Rigidity is Hard

We exactly settle the complexity of graph realization, graph rigidity, and graph global rigidity as applied to three types of graphs: "globally noncrossing" graphs, which avoid crossings in all of their configurations; matchstick graphs, with unit-length edges and where only noncrossing configurations are considered; and unrestricted graphs (crossings allowed) with unit edge lengths (or in the global rigidity case, edge lengths in $\{1,2\}$). We show that all nine of these questions are complete for the class $\exists\mathbb{R}$, defined by the Existential Theory of the Reals, or its complement $\forall\mathbb{R}$; in particular, each problem is (co)NP-hard. One of these nine results--that realization of unit-distance graphs is $\exists\mathbb{R}$-complete--was shown previously by Schaefer (2013), but the other eight are new. We strengthen several prior results. Matchstick graph realization was known to be NP-hard (Eades \& Wormald 1990, or Cabello et al.\ 2007), but its membership in NP remained open; we show it is complete for the (possibly) larger class $\exists\mathbb{R}$. Global rigidity of graphs with edge lengths in $\{1,2\}$ was known to be coNP-hard (Saxe 1979); we show it is $\forall\mathbb{R}$-complete. The majority of the paper is devoted to proving an analog of Kempe's Universality Theorem--informally, "there is a linkage to sign your name"--for globally noncrossing linkages. In particular, we show that any polynomial curve $ϕ(x,y)=0$ can be traced by a noncrossing linkage, settling an open problem from 2004. More generally, we show that the regions in the plane that may be traced by a noncrossing linkage are precisely the compact semialgebraic regions (plus the trivial case of the entire plane). Thus, no drawing power is lost by restricting to noncrossing linkages. We prove analogous results for matchstick linkages and unit-distance linkages as well.

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arXiv2025

All Polyhedral Manifolds are Connected by a 2-Step Refolding

We prove that, for any two polyhedral manifolds $\mathcal P, \mathcal Q$, there is a polyhedral manifold $\mathcal I$ such that $\mathcal P, \mathcal I$ share a common unfolding and $\mathcal I,\mathcal Q$ share a common unfolding. In other words, we can unfold $\mathcal P$, refold (glue) that unfolding into $\mathcal I$, unfold $\mathcal I$, and then refold into $\mathcal Q$. Furthermore, if $\mathcal P, \mathcal Q$ have no boundary and can be embedded in 3D (without self-intersection), then so does $\mathcal I$. These results generalize to $n$ given manifolds $\mathcal P_1, \mathcal P_2, \dots, \mathcal P_n$; they all have a common unfolding with the same intermediate manifold $\mathcal I$. Allowing more than two unfold/refold steps, we obtain stronger results for two special cases: for doubly covered convex planar polygons, we achieve that all intermediate polyhedra are planar; and for tree-shaped polycubes, we achieve that all intermediate polyhedra are tree-shaped polycubes.

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arXiv2025

Super Guarding and Dark Rays in Art Galleries

We explore an Art Gallery variant where each point of a polygon must be seen by k guards, and guards cannot see through other guards. Surprisingly, even covering convex polygons under this variant is not straightforward. For example, covering every point in a triangle k=4 times (a 4-cover) requires 5 guards, and achieving a 10-cover requires 12 guards. Our main result is tight bounds on k-covering a convex polygon of n vertices, for all k and n. The proofs of both upper and lower bounds are nontrivial. We also obtain bounds for simple polygons, leaving tight bounds an open problem.

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arXiv2025

Undecidability of Tiling with a Tromino

Given a periodic placement of copies of a tromino (either L or I), we prove co-RE-completeness (and hence undecidability) of deciding whether it can be completed to a plane tiling. By contrast, the problem becomes decidable if the initial placement is finite, or if the tile is a domino instead of a tromino (in any dimension). As a consequence, tiling a given periodic subset of the plane with a given tromino (L or I) is co-RE-complete. We also prove co-RE-completeness of tiling the entire plane with two polyominoes (one of which is disconnected and the other of which has constant size), and of tiling 3D space with two connected polycubes (one of which has constant size). If we restrict to tiling by translation only (no rotation), then we obtain co-RE-completeness with one more tile: two trominoes for a periodic subset of 2D, three polyominoes for the 2D plane, and three connected polycubes for 3D space. Along the way, we prove several new complexity and algorithmic results about periodic (infinite) graphs. Notably, we prove that Periodic Planar (1-in-)3SAT-3, 3DM, and Graph Orientation are co-RE-complete in 2D and PSPACE-complete in 1D; we extend basic results in graph drawing to 2D periodic graphs; and we give a polynomial-time algorithm for perfect matching in bipartite periodic graphs.

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arXiv2025

The Price of Connectivity Augmentation on Planar Graphs

Given two classes of graphs, $\mathcal{G}_1\subseteq \mathcal{G}_2$, and a $c$-connected graph $G\in \mathcal{G}_1$, we wish to augment $G$ with a smallest cardinality set of new edges $F$ to obtain a $k$-connected graph $G'=(V,E\cup F) \in \mathcal{G}_2$. In general, this is the $c\to k$ connectivity augmentation problem. Previous research considered variants where $\mathcal{G}_1=\mathcal{G}_2$ is the class of planar graphs, plane graphs, or planar straight-line graphs. In all three settings, we prove that the $c\to k$ augmentation problem is NP-complete when $2\leq c<k\leq 5$. However, the connectivity of the augmented graph $G'$ is at most $5$ if $\mathcal{G}_2$ is limited to planar graphs. We initiate the study of the $c\to k$ connectivity augmentation problem for arbitrary $k\in \mathbb{N}$, where $\mathcal{G}_1$ is the class of planar graphs, plane graphs, or planar straight-line graphs, and $\mathcal{G}_2$ is a beyond-planar class of graphs: $\ell$-planar, $\ell$-plane topological, or $\ell$-plane geometric graphs. We obtain tight bounds on the tradeoffs between the desired connectivity $k$ and the local crossing number $\ell$ of the augmented graph $G'$. We also show that our hardness results apply to this setting. The connectivity augmentation problem for triangulations is intimately related to edge flips; and the minimum augmentation problem to the flip distance between triangulations. We prove that it is NP-complete to find the minimum flip distance between a given triangulation and a 4-connected triangulation, settling an open problem posed in 2014, and present an EPTAS for this problem.

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