Publications

Courteous Anticipation: Improving Long-Lived Task Planning in Persistent Shared Environments

Md Ridwan Hossain Talukder, Roshan Dhakal, Elizabeth Phillips, Gregory J. Stein

arXiv preprint · 2026

We study long-lived task planning in environments a robot shares with people, where the state a robot leaves behind affects not only its own future tasks but also the humans working around it. Our planner reasons about that shared cost, producing courteous behavior over long deployments.

Anticipatory Task and Motion Planning: Improved Rearrangement in Persistent Continuous-Space Environments

Roshan Dhakal, Duc M. Nguyen, Tom Silver, Xuesu Xiao, Gregory J. Stein

IEEE Robotics and Automation Letters (RA-L) · 2025

We present a learning-augmented task and motion planning framework that anticipates the future impact of current actions and selects plans that reduce long-term cost across sequences of rearrangement tasks in persistent continuous-space environments.

Anticipatory Planning: Improving Long-Lived Planning by Estimating Expected Cost of Future Tasks

Roshan Dhakal, Md Ridwan Hossain Talukder, Gregory J. Stein

IEEE International Conference on Robotics and Automation (ICRA) · 2023

We introduce anticipatory task planning, a formulation that helps robots solve current tasks while reasoning about the expected cost of unseen future tasks.

Room Classification on Floor Plan Graphs Using Graph Neural Networks

Abhishek Paudel, Roshan Dhakal, Sakshat Bhattari

arXiv preprint · 2021

We model floor plans as graphs and use graph neural networks to improve room classification performance by leveraging relational structure in building layouts.