Kaiyu Zheng

Profile

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.

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.

Publications

New! From Pixels to Buildings: End-to-end Probabilistic Deep Networks for Large-scale Semantic Mapping
Kaiyu Zheng, Andrzej Pronobis
International Conference on Intelligent Robots and Systems (IROS 2019).
Checkout libspn, GraphSPN and COLD.
[pdf] [bibtex] [project] [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.
Checkout libspn, GraphSPN and COLD.
[pdf] [bibtex] [slides] [project] [show abstract] [code] [dataset] [hide video]
Learning Large-Scale Topological Maps Using Sum-Product Networks
Kaiyu Zheng
Senior Thesis, 2017
[pdf] [bibtex] [show abstract]
ROS Navigation Tuning Guide
Kaiyu Zheng
arXiv:1706.09068, 2017
[pdf] [bibtex] [ROS site] [show abstract] [hide video]

Resources

New! Graph-Structured Sum-Product Networks (GraphSPN)
[paper] [github] [docs]
Cognitive rObot Localization Database (COLD) in preperation.
Andrzej Pronobis, Kaiyu Zheng, Kousuke Ariga, Rajesh P. N. Rao.
https://coldb.org [docs (local)]

Presentations

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

My side interests include painting, writing, hiking, sports, horse-riding, history, piano, and Go.

Contact

Email: kaiyu_zheng [at] brown [dot] edu

Other: [CV] [github] [koolio.io]

( Click and flip! Check out koolio.io)