Gregory J. Stein

Assistant Prof. @GMUCompSci. Research at the intersection of Robotics, Planning, and Machine Learning to make robot planning more comfortable with uncertainty.

[Gregory J. Stein @GregoryJStein]

See our RA-L paper!

Anticipatory Task and Motion Planning: Improved Rearrangement in Persistent Continuous-Space Environments, RA-L 2026

Roshan Dhakal, Duc Nguyen, Tom Silver @tomssilver, Xueso Xiao @XuesuXiao , Greg Stein @GregoryJStein

🔗 https://t.co/js6jtnyIO3

[Gregory J. Stein @GregoryJStein]

Our new paper develops robots that don’t just complete tasks: they anticipate how their actions impact what comes next.

Example: when putting objects away, organizing them neatly isn’t just aesthetic—it makes future retrieval faster and easier. 📝🧵👇

[Gregory J. Stein @GregoryJStein]

We demonstrate anticipatory TAMP on a real Fetch mobile manipulator.

Compared to myopic planning, anticipation reduces the number of actions and total execution time over task sequences.

[Tom Silver @tomssilver]

We're excited to announce the third workshop on LEAP: Learning Effective Abstractions for Planning, to be held at #CoRL2025 @corl_conf!

Early submission deadline: Aug 12
Late submission deadline: Sep 5

Website link below 👇

[Gregory J. Stein @GregoryJStein]

@leto__jean Very exciting! Can't wait to see code for this and play around with it.

[Gregory J. Stein @GregoryJStein]

Most student authors (or other first time BibTeX users) don't realize that extra curly brackets around an {ACRONYM} are needed to preserve capitalization. It's *such* a small thing, but it makes clear the bibliography hasn't been proofread (and doesn't look good in a thesis 👨‍🎓)

[Gregory J. Stein @GregoryJStein]

Everyone in robotics should give the new US Robotics Roadmap a read. Happy to have been part of this conversation!

[Henrik I Christensen @hiskov]

The 2024 US Robotics Roadmap is out. Check out the perspective and recommendations at https://t.co/ClaFtpv4bG

[Gregory J. Stein @GregoryJStein]

On my way to Baltimore to attend the NSF FRR/NRI PI meeting and excited to share some recent work and talk robotics for the next couple days 🤖. Be sure to say hello if you see me!

[Gregory J. Stein @GregoryJStein]

Amazing how quickly a huge project can go from high-effort-not-nearly-done to *done*. Been working on a grant for weeks and putting time towards it nearly every day and then suddenly 🎉 every section is drafted, every figure made, no more todo items... 🫠

[Gregory J. Stein @GregoryJStein]

With all the acceptance news RE @ieee_ras_icra, my lab got... 0 papers accepted!🙃 A reminder that not all good papers get accepted & rejection can be an opportunity for further improvement. Still proud of my lab's work and excited to share (just a bit later than expected)!

[Gregory J. Stein @GregoryJStein]

Until the Apple Vision Pro lets me quite literally surround myself with Emacs buffers, I don't think I'll be getting one.

[Gregory J. Stein @GregoryJStein]

Just got back from a great visit to @ASU (thanks to @nakulgopalan for hosting me!) where I talked about some of my lab's ongoing work in making long-horizon planning in partially revealed environments more performant and reliable.

[Gregory J. Stein @GregoryJStein]

Credit goes to my student and first author @abpaudel. Stop by his talk or poster at #IROS2023 [WeBT17] or, if you're not in Detroit, read our blog post: https://t.co/8p615IpO2b See our paper ( https://t.co/Qqfuce0Qtu ) for more experiments and details.

[Gregory J. Stein @GregoryJStein]

Very excited to present our work: Data-Efficient Policy Selection for Navigation in Partial Maps via Subgoal-Based Abstraction! We enable a learning-guided robot deployed in partially-mapped environments to quickly/reliably select the best of a set of nav policies #IROS2023 🤖🧵

[Gregory J. Stein @GregoryJStein]

Our approach converges *much* more quickly resulting in lower average navigation cost and cumulative regret in simulated maze and office-like environments.