San Diego, CA
Robot Learning · Dexterous Manipulation
I am an M.S. student in Computer Science and Engineering at UC San Diego, advised by Xiaolong Wang.
I build dexterous robot learning systems in simulation and the real world. My current work combines human demonstrations, world models, and reinforcement learning for dynamic, contact-rich manipulation.
Quanquan Peng*, *, Rui Yan, Nicklas Hansen, Xiaolong Wang
@article{peng2026fact,
title={FACT: Failure-Aware Causal Training for World-Action Models},
author={Quanquan Peng and Yutong Liang and Rui Yan and Nicklas Hansen and Xiaolong Wang},
journal={arXiv preprint arXiv:2608.10232},
year={2026}
}, Quanquan Peng, Ri-Zhao Qiu, Xiaolong Wang
@article{liang2026contrack,
title={ConTrack: Constrained Hand Motion Tracking with Adaptive Trade-off Control},
author={Yutong Liang and Quanquan Peng and Ri-Zhao Qiu and Xiaolong Wang},
journal={arXiv preprint arXiv:2606.03177},
year={2026}
}Guangqi Jiang*, *, Jianglong Ye, Jia-Yang Huang, Changwei Jing, Rocky Duan, Pieter Abbeel, Xiaolong Wang†, Xueyan Zou†
@article{jiang2026crosshand,
title={Cross-Hand Latent Representation for Vision-Language-Action Models},
author={Guangqi Jiang and Yutong Liang and Jianglong Ye and Jia-Yang Huang and Changwei Jing and Rocky Duan and Pieter Abbeel and Xiaolong Wang and Xueyan Zou},
journal={arXiv preprint arXiv:2603.10158},
year={2026}
}*, Shiyi Xu*, Yulong Zhang*, Bowen Zhan, He Zhang, Libin Liu
@article{liang2026dextercap,
title={DexterCap: An Affordable and Automated System for Capturing Dexterous Hand-Object Manipulation},
author={Yutong Liang and Shiyi Xu and Yulong Zhang and Bowen Zhan and He Zhang and Libin Liu},
journal={arXiv preprint arXiv:2601.05844},
year={2026}
}My thoughts on agentic robotics.
What is the role of human demonstration in robotics learning?
Start with one 3-cycle, then use 24 edge and 18 corner algorithms to learn tracing, setups, cycle breaks, parity, and orientation.
Interaction-aware hand motion retargeting spanning geometry, force, and self-supervision.
