All Publications

show all bibtex entries

hide all bibtex entries

Preprints

• Md Ridwan Hossain Talukder, Raihan Islam Arnob, and Gregory J. Stein. “Anticipatory Planning for Performant Long-Lived Robot in Large-Scale Home-Like Environments.” Preprint: Under Review. 2024. ArXiv link
• Roshan Dhakal, Duc M. Nguyen, Tom Silver, Xuesu Xiao, and Gregory J. Stein. “Anticipatory Task and Motion Planning.”Preprint: Under Review. 2024. ArXiv link

Conference and Journal Papers

• Abhishek Paudel, Xuesu Xiao, Gregory J. Stein. “Multi-Strategy Deployment-Time Learning and Adaptation for Navigation under Uncertainty.” In: Conference on Robot Learning (CoRL). 2024.
• Hoang-Dung Bui, Erion Plaku, and Gregory J. Stein. “Multi-Robot Guided Sampling-Based Motion Planning with Dynamics in Partially Mapped Environments.” IEEE Access. 2024. paper. show bibtex

@article{bui2024mrsampling,
  title={Multi-Robot Guided Sampling-Based Motion Planning with Dynamics in Partially Mapped Environments},
  author={Bui, Hoang-Dung and Plaku, Erion and Stein, Gregory J.},
  journal={IEEE Access},
  year={2024},
}

• Raihan Islam Arnob and Gregory J. Stein. “Active Information Gathering for Long-Horizon Navigation Under Uncertainty by Learning the Value of Information.” In: International Conference on Intelligent Robots and Systems (IROS). 2024.
• Abhish Khanal, Hoang-Dung Bui, Erion Plaku, and Gregory J. Stein. “Learning-informed Long-Horizon Navigation under Uncertainty for Vehicles with Dynamics.” In: International Conference on Intelligent Robots and Systems (IROS). 2024.
• Yanlin Zhou, Manshi Limbu, Gregory J. Stein, Xuan Wang, Daigo Shishika, and Xuesu Xiao. “Team Coordination on Graphs: Problem, Analysis, and Algorithms.” In: International Conference on Intelligent Robots and Systems (IROS). 2024.
• Yimeng Li, Arnab Debnath, Gregory J. Stein, and Jana Kosecka. “Learning-augmented model-based planning for visual exploration.” In: International Conference on Intelligent Robots and Systems (IROS). 2023. paper. show bibtex

@inproceedings{li2023modelexplore,
  author =     {Yimeng Li and Arnab Debnath and Gregory J. Stein and Jana
                Kosecka},
  title =      {Learning-augmented model-based planning for 
                visual exploration},
  booktitle =  {International Conference on Intelligent Robots 
                and Systems (IROS)},
  year =       {2023},
  note =       {in press},
}

• Raihan Islam Arnob and Gregory J. Stein. “Improving Reliable Navigation under Uncertainty via Predictions Informed by Non-Local Information.” In: International Conference on Intelligent Robots and Systems (IROS). 2023. paper. show bibtex

@inproceedings{arnob2023lspgnn,
  title =      {Improving Reliable Navigation under Uncertainty via 
                Predictions Informed by Non-Local Information},
  author =     {Arnob, Raihan Islam and Stein, Gregory J.},
  booktitle =  {International Conference on Intelligent Robots 
                and Systems (IROS)},
  year =       {2023},
  note =       {in press},
}

• Abhishek Paudel and Gregory J. Stein. “Data-Efficient Policy Selection for Navigation in Partial Maps via Subgoal-Based Abstraction.” In: International Conference on Intelligent Robots and Systems (IROS). 2023. paper, blog post. show bibtex

@inproceedings{paudel2023selection,
  title =      {Data-Efficient Policy Selection for Navigation in 
                Partial Maps via Subgoal-Based Abstraction},
  author =     {Paudel, Abhishek and Stein, Gregory J.},
  booktitle =  {International Conference on Intelligent Robots 
                and Systems (IROS)},
  year =       {2023},
  note =       {in press},
}

• Abhish Khanal, Hoang-Dung Bui, Gregory J. Stein, Erion Plaku: “Guided Sampling-Based Motion Planning with Dynamics in Unknown Environments.” In: International Conference on Automation Science and Engineering (CASE). 2023. paper. show bibtex

@inproceedings{khanal2023guided,
  title =     {Guided Sampling-Based Motion Planning with Dynamics 
               in Unknown Environments},
  author =    {Khanal, Abhish and Bui, Hoang-Dung and Stein, Gregory J. and Plaku, Erion},
  booktitle = {International Conference on Automation Science 
               and Engineering (CASE)},
  year =      {2023},
  note =      {in press},
}

• Roshan Dhakal, Md Ridwan Hossain Talukder, Gregory J. Stein. “Anticipatory Planning: Improving Long-Lived Planning by Estimating Expected Cost of Future Tasks.” In: International Conference on Robotics and Automation (ICRA). 2023. paper. show bibtex

@inproceedings{dhakal2023anticipatory,
  title =      {Anticipatory Planning: Improving Long-Lived Planning 
                by Estimating Expected Cost of Future Tasks},
  author =     {Dhakal, Roshan and Talukder, Md Ridwan Hossain 
                and Stein, Gregory J.},
  booktitle =  {International Conference on Robotics and Automation (ICRA)},
  pages =      {11538--11545},
  year =       {2023},
}

• Abhish Khanal and Gregory J. Stein. “Learning Augmented, Multi-Robot Long-Horizon Navigation in Partially Mapped Environments.” In: International Conference on Robotics and Automation (ICRA). 2023. paper. show bibtex

@inproceedings{khanal2023mrlsp,
  title =      {Learning Augmented, Multi-Robot Long-Horizon Navigation in
                Partially Mapped Environments},
  author =     {Khanal, Abhish and Stein, Gregory J.},
  booktitle =  {International Conference on Robotics and Automation (ICRA)},
  pages =      {10167--10173},
  year =       {2023},
}

• Gregory J. Stein “Generating High-Quality Explanations for Navigation in Partially-Revealed Environments.” In: Advances in Neural Information Processing Systems (NeurIPS). 2021. paper, talk (13 min), GitHub, blog post. show bibtex

@inproceedings{stein2021xailsp,
  title =      {Generating High-Quality Explanations for Navigation 
                in Partially-Revealed Environments},
  author =     {Gregory J. Stein},
  booktitle =  {Advances in Neural Information Processing Systems (NeurIPS)},
  pages =      {17493--17506},
  year =       {2021},
  keywords =   {explainability; planning under uncertainty; 
                subgoal-based planning; interpretable-by-design},
}

• Christopher Bradley, Adam Pacheck, Gregory J. Stein, Sebastian Castro, Hadas Kress-Gazit, and Nicholas Roy. “Learning and Planning for Temporally Extended Tasks in Unknown Environments.” In: International Conference on Robotics and Automation (ICRA). 2021. paper, talk (3 min). show bibtex

@inproceedings{bradley2021potlp,
  title =     {Learning and Planning for Temporally Extended Tasks in Unknown
               Environments},
  author =    {Christopher Bradley and Adam Pacheck and Gregory J. Stein and
               Sebastian Castro and Hadas Kress-Gazit and Nicholas Roy},
  booktitle = {International Conference on Robotics and Automation (ICRA)},
  pages =     {4830--4836},
  year =      {2021},
}

• Gregory J. Stein, Christopher Bradley, Victoria Preston, and Nicholas Roy. “Enabling Topological Planning with Monocular Vision”. In: International Conference on Robotics and Automation (ICRA). 2020. paper, talk (10 min). show bibtex

@inproceedings{stein2020gapnav,
  author =       {Stein, Gregory J. and Bradley, Christopher and Preston, 
                  Victoria and Roy, Nicholas},
  booktitle =    {International Conference on Robotics and Automation (ICRA)},
  title =        {Enabling Topological Planning with Monocular Vision},
  pages =        {1667--1673},
  year =         2020,
  keywords =     {topological mapping, topological planning, frontiers,
                  multi-agent search, exploration, learning},
}

• Gregory J. Stein, Christopher Bradley, and Nicholas Roy. “Learning over Subgoals for Efficient Navigation of Structured, Unknown Environments”. In: Conference on Robot Learning (CoRL). 2018. paper, talk (14 min). show bibtex

@inproceedings{stein2018subgoal,
  author =    {Stein, Gregory J. and Bradley, Christopher and Roy, Nicholas},
  title =     {Learning over Subgoals for Efficient Navigation of Structured,
               Unknown Environments},
  booktitle = {Conference on Robot Learning (CoRL)},
  pages =     {213--222},
  year =      {2018},
}

Best Paper Finalist at CoRL 2018; Best Oral Presentation at CoRL 2018. Best Paper Finalist at CoRL 2018; Best Oral Presentation at CoRL 2018.

• Gregory J. Stein and Nicholas Roy. “GeneSIS-RT: Generating Synthetic Images for training Secondary Real-World Tasks”. In: International Conference on Robotics and Automation (ICRA). 2018. paper. show bibtex

@inproceedings{stein2018genesisrt,
  author =       {Stein, Gregory J. and Roy, Nicholas},
  title =        {{GeneSIS-RT}: Generating Synthetic Images for training
                  Secondary Real-World Tasks},
  booktitle =    {International Conference on Robotics and Automation (ICRA)},
  pages =        {7151--7158},
  year =         2018,
  keywords =     {semantic segmentation, reactive obstacle avoidance, 
                  domain adaptation},
}

• Mycal Tucker, Derya Aksaray, Rohan Paul, Gregory J. Stein, and Nicholas Roy. “Learning Unknown Groundings for Natural Language Interaction with Mobile Robots”. In: Robotics Research: The 18th International Symposium (ISRR). 2020. show bibtex

@inproceedings{tucker2020upup,
  author =     {Tucker, Mycal and Aksaray, Derya and Paul, Rohan and Stein,
                Gregory J. and Roy, Nicholas},
  title =      {Learning unknown groundings for natural language interaction
                with mobile robots},
  booktitle =  {Robotics Research: The 18th International Symposium (ISRR)},
  pages =      {317--333},
  year =       {2020},
}

Workshop Papers

• Shahriar Hossain, Abhishek Paudel, Gregory J. Stein. “Enhancing Object Search by Augmenting Planning with Predictions from Large Language Models.” In: Workshop on Learning Effective Abstractions for Planning, Conference on Robot Learning (CoRL). 2024.
• Yimeng Li, Arnab Debnath, Gregory J. Stein, and Jana Kosecka. “Comparison of Model Free and Model-Based Learning-Informed Planning for PointGoal Navigation.” In: Workshop on Learning, Perception, and Abstraction for Long-Horizon Planning, Conference on Robot Learning (CoRL). 2023. paper. show bibtex

@inproceedings{li2022lspcomp,
  author =     {Yimeng Li and Arnab Debnath and Gregory J. Stein and Jana
                Kosecka},
  title =      {Comparison of Model Free and Model-Based Learning-Informed
               Planning for PointGoal Navigation},
  booktitle =  {Workshop on Learning, Perception, and Abstraction for
                Long-Horizon Planning, CoRL},
  year =       {2022},
}