@article{hiwethierarchicalworldframeendeffectortr,
  title = {HiWET: Hierarchical World-Frame End-Effector Tracking for Long-Horizon Humanoid Loco-Manipulation},
  author = {Zhanxiang Cao and Liyun Yan and Yang Zhang and Sirui Chen and Jianming Ma and Tianyue Zhan and Shengcheng Fu and Yufei Jia and Cewu Lu and Yue Gao},
  year = {2026},
  eprint = {2602.06341},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2602.06341},
}