@article{directionmatterslearningforcedirectionen,
  title = {Direction Matters: Learning Force Direction Enables Sim-to-Real Contact-Rich Manipulation},
  author = {Yifei Yang and Anzhe Chen and Zhenjie Zhu and Kechun Xu and Yunxuan Mao and Yufei Wei and Lu Chen and Rong Xiong and Yue Wang},
  year = {2026},
  eprint = {2602.14174},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2602.14174},
}