Chinese President Xi Jinping left California for home Saturday afternoon after his meeting with U.S. President Barack Obama, at which they agreed to build a new type of relationship between the two countries.

Xi and Obama held two rounds of talks from Friday to Saturday at Sunnylands, a 200-acre (81-hectare) Annenberg estate in Rancho Mirage, California, the first face-to-face meeting between them since the two countries completed their latest leadership transitions.

At their second gathering earlier in the day, the two presidents informed each other of their domestic economic situation and exchange views on the economic relations between China and the United States.

Economic cooperation is a cornerstone of China-U.S. relations, Xi said, adding that China and the United States have forged an economic relationship featuring high complementarity and convergence of interests.

The China-U.S. cooperation would benefit not only the two countries but also world growth at large, Xi said.

For his part, Obama said his country encourages Chinese companies to invest on its soil and is willing to take measures to loosen controls on hi-tech exports to China.

On Friday, the two leaders agreed to build a new type of relations between China and the United States, which could avoid the traditional path of confrontations and conflicts between major countries.

Before arriving in the United States, Xi concluded a three-nation Latin American tour, which took him to Trinidad and Tobago, Costa Rica and Mexico.