@article{phaforcephasescheduledvisualforcepolicyl,
  title = {PhaForce: Phase-Scheduled Visual-Force Policy Learning with Slow Planning and Fast Correction for Contact-Rich Manipulation},
  author = {Mingxin Wang and Zhirun Yue and Renhao Lu and Yizhe Li and Zihan Wang and Guoping Pan and Kangkang Dong and Jun Cheng and Yi Cheng and Houde Liu},
  year = {2026},
  eprint = {2603.08342},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2603.08342},
}