@misc{sun2025ulcunifiedfinegrainedcontroller,
title={ULC: A Unified and Fine-Grained Controller for Humanoid Loco-Manipulation},
author={Wandong Sun and Luying Feng and Baoshi Cao and Yang Liu and Yaochu Jin and Zongwu Xie},
year={2025},
eprint={2507.06905},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2507.06905},
}