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In [Math. Ann. 367 (2017), pp. 1517–1586] Bar-Natan and the first author show that solutions to the Kashiwara–Vergne equations are in bijection with certain knot invariants: homomorphic expansions of welded foams. Welded foams are a class of knotted tubes in \mathbb {R}^4, which can be finitely presented algebraically as a circuit algebra , or equivalently, a wheeled prop. In this paper we describe the Kashiwara-Vergne groups \mathsf {KV} and \mathsf {KRV}—the symmetry groups of Kashiwara-Vergne solutions—as automorphisms of the completed circuit algebras of welded foams, and their associated graded circuit algebras of arrow diagrams, respectively. Finally, we provide a description of the graded Grothendieck-Teichmüller group \mathsf {GRT}_1 as automorphisms of arrow diagrams. [ABSTRACT FROM AUTHOR]