@article{closingtheloopinhumanoidvlapersistent3do,
  title = {Closing the Loop in Humanoid VLA: Persistent 3D Object Tokens for Verifiable Loco-Manipulation},
  author = {Peng Ren and Haoyang Ge and Jiang Zhao and Cong Huang and Yukun Shi and Pei Chi and Kai Chen},
  year = {2026},
  eprint = {2607.18016},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2607.18016},
}