Gregory is recognized for his contributions to the doctrine of the Trinity and the concept of God's infinity. He is also known for his idea of epektasis, or constant progress. In his theology, he recognized that God has always been perfect, has never changed, and never will. Humanity fell from grace, but rather than return to an unchanging state its goal is to continually progress to become more and more nearly like God, although never attaining God's transcendance. This idea has had a profound influence on the Eastern Orthodox teaching as seen in its concept of theosis or "divinization".