# FORCA: A Force-Aware Coding Agent for Contact-Rich Robot Manipulation

- Source: arXiv cs.RO
- Published: 2026-10-26T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/hu461m2i9qvee3m0ul6eynoih
- Original: https://arxiv.org/abs/2610.31841

## Summary

FORCA is a coding agent that takes visual observations and wrist force/torque measurements as input, writes Python programs for contact probing and force-responsive motion, and between executions uses force records together with visual outcomes to diagnose failures and revise motion and force-feedback control logic.