Yutong Liang

San Diego, CA

UC San Diego · Robot Learning

Research

Hi there! I'm Yutong Liang, a first-year graduate student in Computer Science and Engineering at the University of California San Diego, advised by Prof. Xiaolong Wang.

My research aims to develop general-purpose physics agents that can comprehend the world and operate with human-level dexterity.

I believe the next leap in robot manipulation will come from world models that learn how the physical world evolves, human demonstrations that provide scalable motion priors, and reinforcement learning that closes the final gap to dynamic, contact-rich control.

About Me

Selected Publications

ECCV·2026

ConTrack: Constrained Hand Motion Tracking with Adaptive Trade-off Control

Yutong Liang, Quanquan Peng, Ri-Zhao Qiu, Xiaolong Wang

Takeaway: When transferring human hand-object manipulation to a robot, the primary goal is to preserve the object's motion, then the remaining control flexibility can be used to replicate human hand-object contact.

WEBSITE PAPER CODE VIDEO X POST

@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}
}

CVPR·2026·Highlight

XL-VLA: Cross-Hand Latent Representation for Vision-Language-Action Models

Guangqi Jiang*, Yutong Liang*, Jianglong Ye, Jia-Yang Huang, Changwei Jing, Rocky Duan, Pieter Abbeel, Xiaolong Wang†, Xueyan Zou†

Takeaway: Embodiment-invariant latent action space enhances performance as demonstrations scale across different hand embodiments, similarly to scaling with additional data from a single hand.

WEBSITE PAPER CODE X POST

@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}
}

Eurographics·2026

DexterCap: An Affordable and Automated System for Capturing Dexterous Hand-Object Manipulation

Yutong Liang*, Shiyi Xu*, Yulong Zhang*, Bowen Zhan, He Zhang, Libin Liu

Takeaway: Dexterous in-hand manipulation can be captured by providing dense motion information while minimizing interference caused by markers.

WEBSITE PAPER CODE VISUALIZATION DATA X POST

@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}
}

All Publications

Selected Writing

All Writing

Education

University of California San Diego

M.S. in Computer Science and Engineering

Sep. 2025 - Mar. 2027 (Expected)

San Diego, United States

Peking University

B.S. in Computer Science and Technology

Sep. 2021 - Jul. 2025

Beijing, China