I'm pretty sure mtpfs is the problem here.  I just tried go-mtpfs
(https://github.com/hanwen/go-mtpfs) as Jan mentions above and I'm able
to work with my Galaxy Nexus under Nautilus and on the command line
without errors or long delays.

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https://bugs.launchpad.net/bugs/972311

Title:
  Accessing a MTP device like the Galaxy Nexus fails

Status in “nautilus” package in Ubuntu:
  Confirmed

Bug description:
  When I connect my Galaxy Nexus to my system (up to date precise) and
  try to access the data on my phone, I get the following error...

  The folder contents could not be displayed.
  Sorry, could not display all the contents of "Galaxy": DBus error 
org.freedesktop.DBus.Error.NoReply: Did not receive a reply. Possible causes 
include: the remote application did not send a reply, the message bus security 
policy blocked the reply, the reply timeout expired, or the network connection 
was broken.

  In Oneiric accessing Android 4.0 devices via Nautilus worked. Not very
  good, but transfering a couple of files didn't fail.

  ProblemType: Bug
  DistroRelease: Ubuntu 12.04
  Package: nautilus 1:3.4.0-0ubuntu1
  ProcVersionSignature: Ubuntu 3.2.0-21.34-generic 3.2.13
  Uname: Linux 3.2.0-21-generic x86_64
  ApportVersion: 2.0-0ubuntu3
  Architecture: amd64
  Date: Tue Apr  3 12:31:01 2012
  EcryptfsInUse: Yes
  InstallationMedia: Ubuntu 12.04 LTS "Precise Pangolin" - Beta amd64 (20120301)
  SourcePackage: nautilus
  UpgradeStatus: No upgrade log present (probably fresh install)

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