Kaiyu Zheng


I'm a Ph.D. student at Brown University, mainly advised by Stefanie Tellex in the H2R Lab. I am also advised by George Konidaris and Michael Littman. (CV)

My research interests are in the intersection of robotics, computer vision and reinforcement learning. Currently, I focus on active perception problems (e.g. object search), using a POMDP framework.

Prior to PhD studies, I graduated from the University of Washington in June 2018, with both M.S. and B.S. in Computer Science, and minor in Mathematics. At UW, advised by Andrzej Pronobis and Rajesh Rao, I conducted research on mobile robot navigation, as well as proposing new methods to use Sum-Product Networks for graph modeling and large-scale semantic mapping. Prior to that, I worked on using Myo to control a robotic arm advised by Vikash Kumar and Emo Todorov.

More about me.


New! From Pixels to Buildings: End-to-end Probabilistic Deep Networks for Large-scale Semantic Mapping
Kaiyu Zheng, Andrzej Pronobis
The code and dataset will be released soon. Checkout libspn and COLD.
[pdf] [show abstract] [hide video]


New! Learning Graph-Structured Sum-Product Networks for Probabilistic Semantic Maps
Kaiyu Zheng, Andrzej Pronobis, Rajesh P. N. Rao
AAAI Conference on Artificial Intelligence (AAAI 2018). oral presentation.
The code and dataset will be released soon. Checkout libspn and COLD.
[pdf] [bibtex] [slides] [project] [show abstract] [hide video]
Learning Large-Scale Topological Maps Using Sum-Product Networks
Kaiyu Zheng
Senior Thesis, 2017
[pdf] [bibtex] [show abstract]


Cognitive rObot Localization Database (COLD) in preperation.
Andrzej Pronobis, Kaiyu Zheng, Kousuke Ariga, Rajesh P. N. Rao.
https://coldb.org [doc (local)]
ROS Navigation Tuning Guide
Kaiyu Zheng, 2017.
[pdf] [bibtex] [ROS site] [hide video]


New! An Introduction to Semantic Mapping in Robotics
together with Eric Rosen
Brown Robotics
— on 3/22/2019 in Providence, RI, US.
[slides] [show abstract]
Probabilistic Semantic Mapping Using Graph-Structured Sum-Product Networks
Kaiyu Zheng, Andrzej Pronobis, Rajesh P. N. Rao
UW Computer Science & Engineering Industry Affiliates Research Day
— on 11/15/2017 in Seattle, WA, US.
[poster] [slides] [show abstract]

More about Me

I grew up in Guangzhou, China. I have many side interests; I enjoy history, badminton, piano and Go, as well as painting, writing and traveling.

My Chinese name is 郑开宇 (simplified), or 鄭開宇 (traditional).

Email: kaiyu_zheng [at] brown [dot] edu

Github: zkytony

Dumping ground for more projects, writings, interests.