@article{ceercompliantendeffectorandrootcontrolas,
  title = {CEER: Compliant End-Effector and Root Control as a Unified Interface for Hierarchical Humanoid Loco-Manipulation},
  author = {Xinyuan Luo and Xingrui Chen and Xunjian Yin and Hongxuan Wu and Boxi Xia and Zhuoqun Chen and Jinzhou Li and Boyuan Chen and Xianyi Cheng},
  year = {2026},
  eprint = {2605.19981},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2605.19981},
}