Cosmogenic 10Be and 26Al measurements from bedrock exposures in East Antarctica provide indications of how long the rock surface has been free from glacial cover. Samples from the crests of Zakharoff Ridge and Mount Harding, two typical nunataks in the Grove Mountains, show minimum 10Be ages of 2.00 ± 0.22 and 2.30 ± 0.26 Ma, respectively. These ages suggest that the crests were above the ice sheet at least since the Plio–Pleistocene boundary. Adopting a ‘reasonable’ erosion rate of 5–10 cm Ma-1 increases the exposure ages of these two samples to extend into the mid-Pliocene. The bedrock exposure ages steadily decrease with decreasing elevation on the two nunataks, which indicates ~200 m decrease of the ice sheet in the Grove Mountains since mid-Pliocene time. Seven higher elevation samples exhibit a simple exposure history, which indicates that the ice sheet in the Grove Mountains decreased only ~100 m over a period as long as 1–2 Ma. This suggests that the East Antarctic Ice Sheet (EAIS) was relatively stable during the Pliocene warm interval. Five lower elevation samples suggest a complex exposure history, and indicate that the maximum subsequent increase of the EAIS was only 100 m higher than the present ice surface. Considering the uncertainties, their total initial exposure and subsequent burial time could be later than mid-Pliocene, which may not conflict with the stable mid-Pliocene scenario.