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∗ denotes equal contribution.This work was supported by the startup fund from the Robotics Department at the University of Michigan.The authors are with the Robotics Department, University of Michigan, Ann Arbor, MI 48109 USA (e-mail: wenzhet@umich.edu; valeska@umich.edu; zhc@umich.edu; maanigj@umich.edu; xiaonanh@umich.edu)
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Exploiting symmetry in tensegrity robot design slashes training data needs by 80% while boosting contact estimation accuracy by 15%, all with a simple graph neural network.
