Projects

arxiv·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.

@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.

@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.

@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}
}

ICRA·2026

GSWorld: Closed-Loop Photo-Realistic Simulation Suite for Robotic Manipulation

Guangqi Jiang*, Haoran Chang*, Ri-Zhao Qiu, Yutong Liang, Mazeyu Ji, Jiyue Zhu, Zhao Dong, Xueyan Zou, Xiaolong Wang

@article{jiang2025gsworld,
      title={GSWorld: Closed-Loop Photo-Realistic Simulation Suite for Robotic Manipulation}, 
      author={Guangqi Jiang and Haoran Chang and Ri-Zhao Qiu and Yutong Liang and Mazeyu Ji and Jiyue Zhu and Zhao Dong and Xueyan Zou and Xiaolong Wang},
      journal={arXiv preprint arXiv:2510.20813},
      year={2025}
}

RSS·2025

ROBOVERSE: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning

RoboVerse Team

@article{geng2025roboverse,
      title={RoboVerse: Towards a Unified Platform, Dataset and Benchmark for Scalable and Generalizable Robot Learning}, 
      author={Haoran Geng and Feishi Wang and Songlin Wei and Yuyang Li and Bangjun Wang and Boshi An and Charlie Tianyue Cheng and Haozhe Lou and Peihao Li and Yen-Jen Wang and Yutong Liang and Dylan Goetting and Chaoyi Xu and Haozhe Chen and Yuxi Qian and Yiran Geng and Jiageng Mao and Weikang Wan and Mingtong Zhang and Jiangran Lyu and Siheng Zhao and Jiazhao Zhang and Jialiang Zhang and Chengyang Zhao and Haoran Lu and Yufei Ding and Ran Gong and Yuran Wang and Yuxuan Kuang and Ruihai Wu and Baoxiong Jia and Carlo Sferrazza and Hao Dong and Siyuan Huang and Yue Wang and Jitendra Malik and Pieter Abbeel},
      journal={arXiv preprint arXiv:2504.18904},
      year={2025}
}