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Gravitational potential energy is the energy an object has due to its position above Earth, energy due to its height. We know this energy exists because it takes effort to lift an object up to a height and also because when we release an object, it falls, gaining kinetic energy.
F in the definition of potential energy is the force exerted by the force field, e.g., gravity, spring force, etc. The potential energy U is equal to the work you must do against that force to move an object from the U=0 reference point to the position r.