@article{tensegrityrobotendcapgroundcontactestima,
  title = {Tensegrity Robot Endcap-Ground Contact Estimation with Symmetry-aware Heterogeneous Graph Neural Network},
  author = {Wenzhe Tong and Yicheng Jiang and Chi Zhang and Maani Ghaffari and Xiaonan Huang},
  year = {2026},
  eprint = {2603.02596},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2603.02596},
}