All Publications

Updated as of Feb 13, 2025. See my Google Scholar page for updates.

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Preprints

@article{dhakal2024anticipatory,
  title =    {Anticipatory Task and Motion Planning},
  author =   {Dhakal, Roshan and Nguyen, Duc M and
              Silver, Tom and Xiao, Xuesu and 
              Stein, Gregory J.},
  journal =  {arXiv preprint arXiv:2407.13694},
  year =     {2024},
  note =     {under review},
}

Peer Reviewed Papers

@inproceedings{debnath2025hybrid,
  author =	 {Arnab Debnath and Gregory J. Stein and Jana Kosecka},
  title =	 {A Hybrid Approach to Indoor Social Navigation: Integrating
                  Reactive Local Planning and Proactive Global Planning},
  booktitle =	 {International Conference on Robotics and Automation (ICRA)},
  year =	 {2025},
}
@inproceedings{talukder2025anticipatory,
  author    = {Md Ridwan Hossain Talukder and Raihan Islam Arnob 
               and Gregory J. Stein},
  title     = {Anticipatory Planning for Performant Long-Lived Robot
               in Large-Scale Home-Like Environments},
  booktitle = {International Conference on Robotics and 
               Automation (ICRA)},
  year      = {2025},
}
@inproceedings{paudel2024multistrategy,
  author =     {Abhishek Paudel and Xuesu Xiao and Gregory J. Stein},
  title =      {Multi-Strategy Deployment-Time Learning and Adaptation 
                for Navigation under Uncertainty},
  booktitle =  {Conference on Robot Learning (CoRL)},
  year =       {2024},
}
@inproceedings{zhou2024team,
  author =	 {Yanlin Zhou and Manshi Limbu and Gregory J. Stein and Xuan
                  Wang and Daigo Shishika and Xuesu Xiao},
  title =	 {Team Coordination on Graphs: Problem, Analysis, and
                  Algorithms},
  booktitle =	 {International Conference on Intelligent Robots and Systems
                  (IROS)},
  year =	 {2024},
}
@inproceedings{khanal2024learning,
  author =	 {Abhish Khanal and Hoang-Dung Bui and Erion Plaku and Gregory
                  J. Stein},
  title =	 {Learning-Informed Long-Horizon Navigation under Uncertainty
                  for Vehicles with Dynamics},
  booktitle =	 {International Conference on Intelligent Robots and Systems
                  (IROS)},
  year =	 {2024},
}
@inproceedings{arnob2024active,
  author =	 {Raihan Islam Arnob and Gregory J. Stein},
  title =	 {Active Information Gathering for Long-Horizon Navigation Under
                  Uncertainty by Learning the Value of Information},
  booktitle =	 {International Conference on Intelligent Robots and Systems
                  (IROS)},
  year =	 {2024},
}
@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},
}
@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},
}
@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},
}
@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},
}
@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},
}
@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},
}
@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},
}
@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},
}
@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},
}
@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},
}
@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. 

@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},
}
@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

@inproceedings{paudel2025llmselect,
  author    = {Abhishek Paudel and Gregory J. Stein},
  title     = {Deployment-time Selection of Prompts for {LLM}-informed 
               Object Search in Partially-Known Environments},
  booktitle = {Workshop on Foundation Models and Neuro-Symbolic 
               AI for Robotics (FMNS) at ICRA},
  year      = {2025},
  month     = {May},
  note      = {Workshop paper}
}
@inproceedings{hossain2024llmsearch,
  author =	 {Shahriar Hossain and Abhishek Paudel and Gregory J. Stein},
  title =	 {Enhancing Object Search by Augmenting Planning with
                  Predictions from Large Language Models},
  booktitle =	 {Workshop on Learning Effective Abstractions for Planning
                  (LEAP) at CoRL},
  year =	 {2024},
}
@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},
}


Gregory J Stein
Assistant Professor
Computer Science

gjstein@gmu.edu
home research
curriculum vitae (CV)