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.


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] [hide 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).
[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, 2017
[pdf] [bibtex] [show abstract]


Email: kaiyu_zheng [at] brown [dot] edu

[CV] [Github] [google scholar]