Siucho joined Peruvian club Universitario's youth academy in 2010 and was promoted to the first team in July 2013 under manager Ángel Comizzo.[1] On 14 July 2013, he made his senior debut in a 0–0 draw against Real Garcilaso at the age of 16.[2] The next year, he alternated between the reserves and the first team and made his international competition debut as a starter in a 3–3 Copa Libertadores draw against The Strongest. He became a regular player in the 2015 season and scored his first senior goal on 9 August 2015 against Sport Loreto. In the 2016 season he played in 22 matches, in most of them coming from the bench.
On 14 February 2020, he renounced his Peruvian nationality and obtained Chinese citizenship. For this reason, he changed his name from Roberto Siucho to Xiao Taotao.[5]
In 2023, in a surprise move, Siucho decided to return to Peru and reobtained Peruvian citizenship to play for Universitario.[6]
In January 2024, having failed to make an appearances during the 2023 season with Universitario, Siucho joined Alianza Atlético on loan until the end of the year.[7]
Siucho's grandfather was from Dachong Town, Xiangshan County, Guangdong, China. His family name is transliterated from Chinese surname Xiao (萧).[12] His sister, Ana, married to Peru's international footballer Edison Flores, making him brother-in-law to Edison.