Author

Nelson Chen

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#graph neural networks Preprint Sep 2026

Model Predictive Control of Tensegrity Robots via Contact-Aware Graph Neural Dynamics Model

A hybrid MPPI controller operating over the learned GNN dynamics model improves predictive accuracy over a flat-ground baseline model and achieves superior navigation performance compared to $A^*$-based re-planning and MPPI-only variants.

Nelson Chen, Patrick Meng, Charles Tang et al. · 0 citations