Embodiments described herein generally relate to compositions including discrete nanostructures (e.g., nanostructures including a functionalized graphene layer and a core species bound to the functionalized graphene layer), and related articles and methods. A composition may have a coefficient of friction of less than or equal to 0.02. Discrete nanostructures may have a substantially non-planar configuration. A core species may reversibly covalently bind a first portion of a functionalized graphene layer to a second portion of the functionalized graphene layer. Articles, e.g., articles including a plurality of discrete nanostructures and a means for depositing the plurality of discrete nanostructures on a surface, are also provided. Methods (e.g., methods of forming a layer) are also provided, including depositing a composition onto a substrate surface and/or applying a mechanical force to the composition, e.g., such that the composition exhibits a coefficient of friction of less than or equal to 0.02.