Kaiyu Zheng

Profile

I am a PhD student at the Humans-To-Robots Lab at Brown University, advised by Stefanie Tellex. My research interests are in robot decision making under uncertainty and human-robot interaction. I am interested in studying joint human-robot tasks with the goal of developing algorithms and systems for human-robot communication and collaboration that are both natural to the human and effective for accomplishing the task. [CV] [Resume]

Before my PhD studies, I graduated with M.S. and B.S. in computer science from the University of Washington with minor in math. I worked on mobile robot navigation and deep generative modeling for mobile robot semantic mapping using Sum-Product Networks, advised by Andrzej Pronobis and Rajesh P. N. Rao.

Preprints

Towards Optimal Correlational Object Search
Kaiyu Zheng, Rohan Chitnis, Yoonchang Sung, George Konidaris, Stefanie Tellex
In submission; arXiv:2110.09991
[pdf] [show abstract] [hide video]

Conference Publications

Spatial Language Understanding for Object Search in Partially Observed Cityscale Environments
Kaiyu Zheng, Deniz Bayazit, Rebecca Mathew, Ellie Pavlick, Stefanie Tellex
International Conference on Robot and Human Interactive Communication (RO-MAN), 2021
[pdf] [bibtex] [code] [blog] [show abstract] [hide talk] [show demo]
Multi-Resolution POMDP Planning for Multi-Object Search in 3D
Kaiyu Zheng, Yoonchang Sung, George Konidaris, Stefanie Tellex
International Conference on Intelligent Robots and Systems (IROS), 2021
RoboCup Best Paper Award
[pdf] [bibtex] [code] [show abstract] [show talk] [hide demo]
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
[pdf] [bibtex] [slides] [project] [show abstract] [hide 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
[pdf] [bibtex] [slides] [project] [code] [dataset] [show abstract] [hide video]

Book Chapters

ROS Navigation Tuning Guide
Kaiyu Zheng
Chapter in Robot Operating System (ROS) - The Complete Reference (Volume 6), 2021
[arXiv] [pdf] [book] [bibtex] [ROS site] [show abstract] [hide video]

Workshop Papers

Dialogue Object Search (Extended Abstract)
Monica Roy*, Kaiyu Zheng*, Jason Liu, Stefanie Tellex
Robotics: Science and Systems (RSS) Workshop on Robotics for People (R4P): Perspectives on Interaction, Learning and Safety, 2021
[pdf] [poster] [bibtex] [workshop] [show abstract]
Parallelizing POMCP to Solve Complex POMDPs (Extended Abstract)
Semanti Basu, Sreshtaa Rajesh, Kaiyu Zheng, Stefanie Tellex, R. Iris Bahar
Robotics: Science and Systems (RSS) Workshop on Software Tools for Real-Time Optimal Control, 2021.
[pdf] [poster] [bibtex] [workshop] [show abstract]
pomdp_py: A Framework to Build and Solve POMDPs
Kaiyu Zheng, Stefanie Tellex
International Conference on Automated Planning and Scheduling (ICAPS) Workshop on Planning and Robotics (PlanRob), 2020
[pdf] [bibtex] [docs] [code] [workshop] [show abstract]
Learning Semantic Maps with Topological Spatial Relations using Graph-Structured Sum-Product Networks
Kaiyu Zheng, Andrzej Pronobis, Rajesh P. N. Rao
International Conference on Intelligent Robots and Systems (IROS) Workshop on Machine Learning Methods for High-Level Cognitive Capabilities in Robotics (ML-HLCR), 2017.
[pdf] [workshop]

Theses

Learning Large-Scale Topological Maps Using Sum-Product Networks
Kaiyu Zheng
Senior Thesis, University of Washington, 2017
[pdf] [bibtex] [show abstract]

Contact

Email: kaiyu_zheng [at] brown [dot] edu