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A World Model-Based Framework for Vision-Language Robot Manipulation

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# Surfer: A World Model-Based Framework for Vision-Language Robot Manipulation
[[arXiv]](https://arxiv.org/abs/2306.11335)  [[Website]](https://pzhren.github.io/Surfer/).

![](https://raw.githubusercontent.com/pzhren/Surfer/main/imgs/model.png)
## SeaWave
**SeaWave** is a Robotic Manipulation with Progressive Reasoning Tasks benchmark based on a realistic robotic manipulation simulator. Specifically, the SeaWave benchmark builds a new high-fidelity digital twin scene based on Unreal Engine 5, which includes 40K natural language instructions generated by ChatGPT for a detailed evaluation of robot manipulation.

![Simulator](https://raw.githubusercontent.com/pzhren/Surfer/main/imgs/multi_level_tasks.jpg)

### Pipeline
![pipeline](https://raw.githubusercontent.com/pzhren/Surfer/main/imgs/pipeline.png)

### Environment
#### Resource Consumption
In our experiments, we used 1 NVIDIA GeForce RTX 3090 GPU. And the simulator occupies approximately 2 to 3GB of GPU memory.
#### Simulator
See [simulator details](https://github.com/Necolizer/RM-PRT/blob/main/EnvIntroduction/README.md).

## Training
```
python src/main.py
```

## Test
```
python src/eval.py
```
## Citation
```
@ARTICLE{ren2025surfer,
      author={Ren, Pengzhen and Zhang, Kaidong and Zheng, Hetao and Li, Zixuan and Wen, Yuhang and Zhu, Fengda and Ma, Shikui and Liang, Xiaodan},
      journal={IEEE Transactions on Neural Networks and Learning Systems}, 
      title={Surfer: A World Model-Based Framework for Vision-Language Robot Manipulation}, 
      year={2025},
      volume={},
      number={},
      pages={1-13},
      doi={10.1109/TNNLS.2025.3594117}
}
```

## License

This repository is released under the Apache 2.0 license as found in the [LICENSE](LICENSE.md) file.

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