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 real-world learning systems for contact-rich dexterous manipulation. My work captures fine-grained human hand-object interaction, uses human demonstrations as motion and exploration priors for reinforcement learning, and learns precise contact from teleoperated robot data.
Robotics depends on understanding and controlling contact. My long-term goal is to build a general model for contact-aware, low-level robot control.
*, Quanquan Peng*, Matthew Kim*, Xiaolong Wang
Preprint2026
@article{fingr2026,
title={{FINGR: Learning Dexterous Hand Control for Real-World Rubik's Cube Solving}},
author={Yutong Liang and Quanquan Peng and Matthew Kim and Xiaolong Wang},
journal={arXiv preprint arXiv:2609.33973},
year={2026},
url={https://arxiv.org/abs/2609.33973}
}Quanquan Peng*, *, Rui Yan, Nicklas Hansen, Xiaolong Wang
CoRL2026
@inproceedings{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},
booktitle={Conference on Robot Learning (CoRL)},
year={2026}
}, Quanquan Peng, Ri-Zhao Qiu, Xiaolong Wang
ECCV2026
@inproceedings{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},
booktitle={Computer Vision -- ECCV 2026},
pages={412--428},
publisher={Springer},
year={2026},
doi={10.1007/978-3-032-37422-6_23}
}Guangqi Jiang*, *, Jianglong Ye, Jia-Yang Huang, Changwei Jing, Rocky Duan, Pieter Abbeel, Xiaolong Wang, Xueyan Zou
CVPR2026Highlight
@inproceedings{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},
booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
pages={13496--13507},
month={June},
year={2026}
}*, Shiyi Xu*, Yulong Zhang*, Bowen Zhan, He Zhang, Libin Liu
Eurographics2026
@article{liang2026dextercap,
title={{DexterCap: Affordable and Automated Capture of Complex Hand-Object Interactions}},
author={Yutong Liang and Shiyi Xu and Yulong Zhang and Bowen Zhan and He Zhang and Libin Liu},
journal={Computer Graphics Forum},
pages={e70330},
year={2026},
doi={10.1111/cgf.70330}
}
