Force Policy: Learning Hybrid Force-Position Control Policy under Interaction Frame for Contact-Rich Manipulation

Hongjie Fang; Shirun Tang; Mingyu Mei; Haoxiang Qin; Zihao He; Jingjing Chen; Feng Ying; Chenxi Wang; Wanxi Liu; Zaixing He; Cewu Lu; Shiquan Wang · RSS 2026 · 2026