KATY, Texas (KTRK) -- A registered sex offender who was released from prison this past May is accused of forcing his way into a Fort Bend County home and sexually assaulting a mother in front of her small child.Stephen Hudson is charged with aggravated robbery and aggravated sexual assault.Detectives say Hudson knocked on the door of a family home in the Westheimer Lakes subdivision, where a woman answered. She was home with her young child while her two other children were at school and her husband was at work.Investigators say Hudson told the woman he was looking for someone and the woman told him that person didn't live there.Hudson came back again and forced himself in, sexually assaulting the mother, with the small child in the same room, investigators said.After the assault, investigators say Hudson told the victim not to get out of a closet until after he left. She remained there for a couple of hours before calling 911.Hudson is also accused of stealing weapons from the home during the assault.After reviewing surveillance video from the home, authorities went to Hudson's home in the same neighborhood, and arrested him.