@article{forcepolicylearninghybridforcepositionco,
  title = {Force Policy: Learning Hybrid Force-Position Control Policy under Interaction Frame for Contact-Rich Manipulation},
  author = {Hongjie Fang and Shirun Tang and Mingyu Mei and Haoxiang Qin and Zihao He and Jingjing Chen and Ying Feng and Chenxi Wang and Wanxi Liu and Zaixing He and Cewu Lu and Shiquan Wang},
  year = {2026},
  eprint = {2602.22088},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2602.22088},
}