Research
Publications
FINGR: Learning Dexterous Hand Control for Real-World Rubik’s Cube Solving
*, 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}
}FACT: Failure-Aware Causal Training for World-Action Models
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}
}ConTrack: Constrained Hand Motion Tracking with Adaptive Trade-Off Control
, 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}
}XL-VLA: Cross-Hand Latent Representation for Vision-Language-Action Models
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}
}DexterCap: Affordable and Automated Capture of Complex Hand-Object Interactions
*, 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}
}GSWorld: Closed-Loop Photo-Realistic Simulation Suite for Robotic Manipulation
Guangqi Jiang*, Haoran Chang*, Ri-Zhao Qiu, , Mazeyu Ji, Jiyue Zhu, Zhao Dong, Xueyan Zou, Xiaolong Wang
ICRA2026
@inproceedings{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},
booktitle={2026 IEEE International Conference on Robotics and Automation (ICRA)},
year={2026}
}
RoboVerse: A Unified Platform, Benchmark and Dataset for Scalable and Generalizable Robot Learning
RoboVerse Team
RSS2025
@inproceedings{geng2025roboverse,
title={{RoboVerse: A Unified Platform, Benchmark and Dataset 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 Haozhe Lou and Charlie Tianyue Cheng and Peihao Li and Haozhe Chen and Yutong Liang and Yuxi Qian and Jiageng Mao and Weikang Wan and Yiran Geng and Mingtong Zhang and Jiangran Lyu and Siheng Zhao and Jiazhao Zhang and Chaoyi Xu 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 Hao Dong and Siyuan Huang and Yue Wang and Jitendra Malik and Pieter Abbeel},
booktitle={Proceedings of Robotics: Science and Systems},
address={Los Angeles, CA, USA},
month={June},
year={2025},
doi={10.15607/RSS.2025.XXI.022}
}SimiSketch: Efficiently Estimating Similarity of streaming Multisets
Fenghao Dong, Yang He*, *, Zirui Liu, Yuhan Wu, Peiqing Chen, and Tong Yang
arXiv2024
@article{dong2024simisketch,
title={{SimiSketch: Efficiently Estimating Similarity of streaming Multisets}},
author={Fenghao Dong and Yang He and Yutong Liang and Zirui Liu and Yuhan Wu and Peiqing Chen and Tong Yang},
journal={arXiv preprint arXiv:2405.19711},
year={2024}
}Research Projects
Other Projects
