@article{anchoraphysicallygroundedclosedloopframe,
  title = {ANCHOR: A Physically Grounded Closed-Loop Framework for Robust Home-Service Mobile Manipulation},
  author = {Jinhao Jiang and Shengyu Fang and Sibo Zuo and Yujie Tang and Yirui Li},
  year = {2026},
  eprint = {2604.25323},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2604.25323},
}