@misc{xu2026forcewamdecouplingfutureresponse,
  title = {ForceWAM: Decoupling Future and Response Learning from Demo and Play Data for Contact-Rich Manipulation},
  author = {Zijun Xu and Wendi Chen and Xinkai Wang and Jiachen Zou and Hongjin Chen and Hairuo Liu and Bokai Lin and Shihao Ma and Ke Ma and Zhiwei Zhang and Zhuohao Yan and Ke Wu and Haoming Song and Xueqi Li and Chuan Wen and Jieru Zhao and Wenchao Ding and Cewu Lu and Lixin Yang},
  year = {2026},
  eprint = {2610.18852},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2610.18852},
}