ForceVLA: Enhancing VLA Models with a Force-aware MoE for Contact-rich Manipulation - Yu, Jiawen; Liu, Hairuo; Yu, Qiaojun; Ren, Jieji; Hao, Ce; Ding, Haitong; Huang, Guangyu; Huang, Guofan; Song, Yan; Cai, Panpan; Zhang, Wenqiang; Lu, Cewu (Advances in Neural Information Processing Systems, 2025)