Kaiyu Zheng


I'm 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, especially partial observability. I am also interested in improving robot decision making through natural language understanding.

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.

[CV] [Github] [google scholar]


Spatial Language Understanding for Object Search in Partially Observed Cityscale Environments
Kaiyu Zheng, Deniz Bayazit, Rebecca Mathew, Ellie Pavlick, Stefanie Tellex
Under Review.
Multi-Resolution POMDP Planning for Multi-Object Search in 3D
Kaiyu Zheng, Yoonchang Sung, George Konidaris, Stefanie Tellex
Under Review.


pomdp_py: A Framework to Build and Solve POMDPs
Kaiyu Zheng, Stefanie Tellex
ICAPS 2020 Workshop on Planning and Robotics (PlanRob)
[pdf] [bibtex] [docs] [code] [show abstract]
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]
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]
Learning Large-Scale Topological Maps Using Sum-Product Networks
Kaiyu Zheng
Senior Thesis, University of Washington, 2017
[pdf] [bibtex] [show abstract]


Email: kaiyu_zheng [at] brown [dot] edu