Kaiyu Zheng

Profile

I'm a Ph.D. student at Brown University, mainly advised by Stefanie Tellex in the H2R Lab. I also receive advice from George Konidaris and Michael Littman. I graduated from the University of Washington in June 2018 with both M.S. and B.S. in Computer Science, and minor in Mathematics.

My current research is about solving large POMDPs for robotics tasks, starting from object search.

Previously, I did research on mobile robot navigation, as well as proposing new methods to use Sum-Product Networks for graph modeling and large-scale semantic mapping, advised by Andrzej Pronobis and Rajesh P. N. Rao. 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] [slides] [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)