Kaiyu Zheng

Profile

I'm a PhD candidate at the Humans-To-Robots Lab at Brown University, advised by Stefanie Tellex. I am visiting the Learning and Intelligent Systems Group at MIT (virtually). My current research interests are in robot decision making under uncertainty, especially partial observability. I am also interested in enable robots to understand natural language to improve its decision making and human-robot interaction.

Before my PhD, I graduated with M.S. and B.S. from the University of Washington, major in computer science, and minor in math in 2018. I worked on mobile robot navigation, structured prediction with Sum-Product Networks, and large-scale semantic mapping, advised by Andrzej Pronobis and Rajesh P. N. Rao. Prior to that, I used the Myo armband to control a robotic arm advised by Vikash Kumar and Emo Todorov.

Preprints

Multi-Resolution POMDP Planning for Multi-Object Search in 3D
Kaiyu Zheng, Yoonchang Sung, George Konidaris, Stefanie Tellex
arXiv:2005.02878, 2020
[arxiv] [show abstract] [show video]

Publications

pomdp_py: A Framework to Build and Solve POMDPs
Kaiyu Zheng, Stefanie Tellex
ICAPS 2020 Workshop on Planning and Robotics
[pdf] [docs] [github] [show abstract] [show video]
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] [slides] [project] [show abstract] [show video]
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] [show 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] [show video]

Resources

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]
An Introduction to Semantic Mapping in Robotics
presentation together with Eric Rosen
@Brown Robotics
— on 3/22/2019 in Providence, RI, US.
[slides] [show abstract]

Contact

Email: kaiyu_zheng [at] brown [dot] edu

Other: [CV] [github] [google scholar] [ORCID ORCID iD icon]