Harsh Gupta

Last updated: October 2025

I'm an undergraduate at the UIUC, pursuing a B.S. in Computer Engineering. I work with Prof. Wenzhen Yuan at the RoboTouch Lab, focusing on tactile sensing and robotic manipulation.

I recently interned at CMU, advised by Prof. Guanya Shi and Prof. Shuran Song on aerial manipulation.

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Research

I’m broadly interested in robot learning, with a focus on cross-embodied learning—understanding how models can transfer data and knowledge across embodiments, including humans (e.g., YouTube)—to enable more general and scalable manipulation and perception.

Embodiment-aware diffusion policy enables robust cross-embodiment deployment by allowing the robot controller to steer the policy generation process.

Learning stable, functional grasps from human videos using physics-based optimization and adaptive finger control.

Tactile foundation model enabling zero-shot transfer across optical tactile sensors by extracting sensor-invariant tactile representations.

Projects

Here are some fun projects I worked on before I knew what research was.

A wearable device with IMUs for real-time hand landmark estimation, enabling basic American Sign Language (ASL) translation.

A tool that processes tennis match videos to extract player, court, and ball data, generating top-down views and collecting data for analysis.

Miscellaneous

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