Significance: Autonomy separates robots from machines. Incorporating autonomy into soft robots is an outstanding challenge due to the mismatch between rigid electronics and the compliant bodies. In this work, we demonstrate origami as a platform for compliant mechanical logic, containing mechanical bits, logic gates, and signal transmission mechanisms that can supplement conventional electronic controls. Furthermore, these processes can be responsive to and programmed by the environment via the integration of adaptive materials. Thus, origami provides a framework in which sensing, computation, and reflexes can be seamlessly integrated into the compliant bodies of soft robotics.