@article{xu2026forcewam,
  title={ForceWAM: Decoupling Future and Response Learning from Demo and Play Data for Contact-Rich Manipulation},
  author={Xu*, Zijun and Chen*, Wendi and Wang*, Xinkai and Zou, Jiachen and Chen, Hongjin and Liu, Hairuo and Lin, Bokai and Ma, Shihao and Ma, Ke and Zhang, Zhiwei and others},
  journal={arXiv preprint arXiv:2610.18852},
  year={2026}
}