@article{s2hwmsparseeventstructuredhierarchicalwo,
  title = {S2-HWM: Sparse Event-Structured Hierarchical World Model for Long-Horizon Surgical Robot Manipulation},
  author = {Shuzhe Zhang and Xin Zhu and Yinling Qian and Qiong Wang},
  year = {2026},
  eprint = {2608.13103},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2608.13103},
}