@article{rmprtrealisticroboticmanipulation,
  title = {Surfer: Progressive Reasoning with World Models for Robotic Manipulation},
  author = {Pengzhen Ren and Kaidong Zhang and Hetao Zheng and Zixuan Li and Yuhang Wen and Fengda Zhu and Mas Ma and Xiaodan Liang},
  year = {2023},
  eprint = {2306.11335},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2306.11335v4},
}