Hundreds of civilians were killed and thousands displaced in Yemen over the past month, and conflict continues to escalate, while aid is coming short.
The push for energy-rich Shabwa came amid heavy air strikes by the Saudi-led coalition battling the Houthi rebels elsewhere in Yemen, including the capital Sanaa.
Saudi-led coalition has retaken key areas from Yemen's Houthi rebels after an intense fight last week killed dozens on both sides.
The friendly fire incident follows an escalation in fighting between the Houthis and Yemeni government forces around the central city of Marib.
At least four soldiers were killed and 13 others wounded at the camp in the southern province of Shabwa.
Missile launched from inside Yemeni territory by Iran-backed Houthis targeted a Saudi residential area, killing two and wounding six civilians, says Saudi-led coalition.
The halt in aid comes after the coalition said it had carried out "a limited number of precision strikes on legitimate military targets in Sanaa international airport".
Government forces advanced a few kilometres following fierce battles south of the city, one of the officials said.
Over 150,000 people will be killed in fighting alone in Yemen this year, the UN agency says while an estimated 1.3 million people in total will have died by 2030.
Riyadh-led military alliance says its air strikes hit "legitimate" Houthi military sites in densely populated capital.
It said at least 130 Houthi rebels were killed in raids in the provinces of Marib and al-Bayda. It was not possible to independently verify the death toll.
The Houthis have detained Yemeni staff in the US compound in a daring attack, which might be a message to Washington that they are in charge in the capital.
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