Publications

Recent Papers

Nathan Huges, Yun Chang, Siyi Hu, Rajat Talak, Rumaisa Abdulhai, Jared Strader, and Luca Carlone "Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems" International Journal on Robotics Research 2024. [arXiv][YouTube][GitHub]
Jingnan Shi*, Rajat Talak*, Dominic Maggio, and Luca Carlone "A Correct-and-Certify Approach to Self-Supervise Object Pose Estimators via Ensemble Self-Training" RSS 2023. [arXiv][webpage]
Rajat Talak, Lisa Peng, and Luca Carlone "Certifiable 3D Object Pose Estimation: Foundations, Learning Models, and Self-Training" IEEE Transactions on Robotics 2023. [arXiv] [GitHub]
Chen Wang et al. "PyPose: A Library for Robot Learning with Physics-based Optimization" CVPR 2023. [arXiv][webpage][GitHub].
Vishrant Tripathi, Rajat Talak, and Eytan Modiano "Information Freshness in Multi-Hop Wireless Networks" IEEE/ACM Transactions on Networking 2022. [arXiv].
Rajat Talak, Siyi Hu, Lisa Peng, and Luca Carlone "Neural Trees for Learning on Graphs" NeurIPS 2021. [arXiv][GitHub]

Book and Thesis

Yin Sun, Igor Kadota, Rajat Talak, and Eytan Modiano "Age of Information: A New Metric for Information Freshness" Morgan and Claypool Publishers, 2019. [Link]
Rajat Talak "Information Exchange and Robust Learning Algorithms for Networked Autonomy" Doctoral Thesis, Aug. 2020. [Link]

Journal Articles

Luca Ballotta, Rajat Talak "Safe Distributed Control of Multi-Robot Systems with Communication Delays" under review IEEE Robotics and Automation Letters, 2024 [arXiv].
Nathan Huges, Yun Chang, Siyi Hu, Rajat Talak, Rumaisa Abdulhai, Jared Strader, and Luca Carlone "Foundations of Spatial Perception for Robotics: Hierarchical Representations and Real-time Systems" International Journal on Robotics Research 2024. [arXiv][YouTube][GitHub]
Rajat Talak, Lisa Peng, and Luca Carlone "Certifiable 3D Object Pose Estimation: Foundations, Learning Models, and Self-Training" IEEE Transactions on Robotics 2023. [arXiv][GitHub]
Vishrant Tripathi, Rajat Talak, and Eytan Modiano "Information Freshness in Multi-Hop Wireless Networks" IEEE/ACM Transactions on Networking 2021. [arXiv]
Vishrant Tripathi, Rajat Talak and Eytan Modiano "Optimal Information Gathering and Dissemination on Graphs" IEEE Transactions on Mobile Computing 2021. [IEEEXplore]
Rajat Talak and Eytan Modiano "Age-Delay Tradeoffs in Queueing Systems" IEEE Transactions on Information Theory 2020. [IEEEXplore]
Rajat Talak, Sertac Karaman, and Eytan Modiano "Improving Age of Information in Wireless Networks with Perfect Channel State Information" IEEE/ACM Transactions on Networking 2020. [IEEEXplore]
Rajat Talak, Sertac Karaman, and Eytan Modiano "Optimizing information freshness in wireless networks under general interference constraints" IEEE/ACM Transactions on Networking 2019. [IEEEXplore]
Rajat Talak, Sertac Karaman, and Eytan Modiano "Capacity and delay scaling for broadcast transmission in highly mobile wireless networks" IEEE Transactions on Mobile Computing 2019. [IEEEXplore]
Rajat Talak, D. Manjunath, and Alexandre Proutiere, "Strategic Arrivals to Queues Offering Priority Service" Queueing Systems, 2019. [SpringerLink]
Rajat Talak and Neelesh B. Mehta, "Optimal Timer-Based Selection for Wireless Systems with Unknown Number of Nodes,” IEEE Transactions on Communication, 2013. [IEEEXplore]
Neelesh B. Mehta, Rajat Talak, and Ananda T. Suresh, "Interplay Between Optimal Selection Scheme, Selection Criterion, and Discrete Rate Adaptation in Opportunistic Wireless Systems,” IEEE Transactions on Communication, 2013. [IEEEXplore]
Rajat Talak and Neelesh B. Mehta, "Feedback Overhead-Aware Distributed, Fast, and Reliable Selection,” IEEE Transactions on Communication, 2012. [IEEEXplore]

Technical Reports

Rajat Talak, Sertac Karaman, and Eytan Modiano "A Theory of Uncertainty Variables for State Estimation and Inference " 2019. [arXiv]
Rajat Talak, Sertac Karaman, and Eytan Modiano “Can Determinacy Minimize Age of Information?” arXiv 2018. [arXiv]

Conference Papers

Jingnan Shi*, Rajat Talak*, Dominic Maggio, and Luca Carlone "A Correct-and-Certify Approach to Self-Supervise Object Pose Estimators via Ensemble Self-Training" RSS 2023. [arXiv] [webpage]
Rajat Talak, Lisa Peng, and Luca Carlone "Certifiable 3D Object Pose Estimation: Foundations, Learning Models, and Self-Training" IROS 2023. Published at: IEEE Transactions on Robotics 2023. [arXiv] [GitHub]
Chen Wang et al. "PyPose: A Library for Robot Learning with Physics-based Optimization" CVPR 2023. [arXiv][webpage][GitHub].
Luca Carlone, Kasra Khosoussi, Vasileios Tzoumas, Golnaz Habibi, Markus Ryll, Rajat Talak, Jingnan Shi, Pasquale Antonante "Visual Navigation for Autonomous Vehicles: An Open-source Hands-on Robotics Course at MIT" IEEE Integrated STEM Education Conference (ISEC) 2022. [arXiv]
Rajat Talak, Siyi Hu, Lisa Peng, and Luca Carlone "Neural Trees for Learning on Graphs" NeurIPS 2021. [arXiv][GitHub]
Rajat Talak, Sertac Karaman, and Eytan Modiano "A Theory of Uncertainty Variables for State Estimation and Inference " Allerton 2019. [IEEEXplore][Extended version on arXiv]
Rajat Talak and Eytan Modiano "Age-Delay Tradeoffs in Single Server Systems" ISIT 2019. [arXiv][IEEEXplore]
Rajat Talak, Sertac Karaman, and Eytan Modiano "When a Heavy-Tailed Service Minimizes Age of Information" ISIT 2019. [IEEEXplore][Extended version on arXiv]
Vishrant Tripathi, Rajat Talak, and Eytan Modiano "Age Optimal Information Gathering and Dissemination on Graphs" INFOCOM 2019. [IEEEXplore][Extended version on arXiv]
Rajat Talak, Sertac Karaman, and Eytan Modiano "Optimizing information freshness in wireless networks under general interference constraints" MobiHoc 2018. [Best Paper Award] [ACM Digital Library]
Rajat Talak, Sertac Karaman, and Eytan Modiano "Optimizing age of information in wireless networks with perfect channel state information" WiOpt 2018. [IEEEXplore] [Extended version on arXiv]
Rajat Talak, Igor Kadota, Sertac Karaman, and Eytan Modiano "Scheduling policies for age minimization in wireless networks with unknown channel state" ISIT 2018. [Extended version on arXiv]
Rajat Talak, Sertac Karaman, and Eytan Modiano "Distributed scheduling algorithms for optimizing information freshness in wireless networks" SPAWC 2018. [arXiv] [Poster Link]
Rajat Talak, Sertac Karaman, and Eytan Modiano "Minimizing age-of-information in multi-hop wireless networks" Allerton 2017. [IEEEXplore]
Rajat Talak, Sertac Karaman, and Eytan Modiano "Capacity and delay scaling for broadcast transmission in highly mobile wireless networks" MobiHoc 2017. [ACM Digital Library]
Rajat Talak, Sertac Karaman, and Eytan Modiano "Speed limits in autonomous vehicular networks due to communication constraints" CDC 2016. [IEEEXplore]
Rajat Talak and Neelesh B. Mehta, "Optimal Design of Timer-Based, Distributed Selection with Unknown Number of Nodes,” National Conference on Communication (NCC), 2013. [IEEEXplore]
Rajat Talak and Neelesh B. Mehta, "Feedback Overhead-Aware Fast Distributed Selection Scheme for Multi-node Wireless Systems,” Globecom, 2011. [IEEEXplore]

Short Papers

Rajat Talak, Lisa Peng, and Luca Carlone "Correct and Certify: A New Approach to Self-Supervised 3D-Object Perception" RSS Workshop on Scaling Robot Learning 2022. [arXiv]
William Chen, Siyi Hu, Rajat Talak, and Luca Carlone "Extracting Zero-shot Common Sense from Large Language Models for Robot 3D Scene Understanding" RSS Workshop on Scaling Robot Learning 2022. [arXiv]
Vishrant Tripathi, Rajat Talak, and Eytan Modiano "Age of Information for Discrete Time Queues" arXiv 2019. [arXiv]