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