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 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.

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] [Resume] [Github] [google scholar]

Peer-Reviewed Publications

Dialogue Object Search (Extended Abstract)
Monica Roy*, Kaiyu Zheng*, Jason Liu, Stefanie Tellex
RSS 2021 Workshop on Robotics for People (R4P): Perspectives on Interaction, Learning and Safety
[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
RSS 2021 Workshop on Software Tools for Real-Time Optimal Control
[pdf] [poster] [bibtex] [workshop] [show abstract]
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] [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]
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]
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] [workshop] [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]


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

Twitter: @zkytony