@misc{zhao2026retriever,
  title = {Retriever: Composing the Perception-Reasoning-Action Loop for Long-Horizon Manipulation},
  author = {Linfeng Zhao and Haojie Huang and Jiayuan Mao and Weiyu Liu and Lawson L. S. Wong and Mykel J. Kochenderfer},
  year = {2026},
  eprint = {2607.17213},
  archivePrefix = {arXiv},
  primaryClass = {cs.RO},
  url = {https://arxiv.org/abs/2607.17213}
}