Author

Hajira Amjad

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Preprint Oct 2026

ReForesight: Occlusion-Robust Re-Identification and Future Occupancy Forecasting for Dynamic Semantic Mapping

Robots sharing walkways need to know where people will be, yet semantic occupancy maps show only where they are. We present ReForesight, an open-source ROS 2 toolkit that adds instance-level future occupancy and re-identification after occlusion to a particle-based semantic mapping pipeline. A 36.6k-parameter MLP predi...

Didar Seyidov, F. Ogunwoye, Hajira Amjad et al. · 0 citations

Preprint Oct 2026

HorizonNav: Geometry-Guided Video Diffusion for Anticipatory 3D Robot Navigation

We present HorizonNav, a video diffusion-based framework for anticipatory robot navigation that transforms a single RGB image and a text prompt into a geometrically aligned representation of plausible surrounding 3D space. Given the initial observation and a textual description of the reconstruction objective, a vision...

Hajira Amjad, Valerii Serpiva, Viacheslav Liubimov et al. · 0 citations

Preprint Oct 2026

AgenticTactileVLA: Contact-Guided Execution-Time Supervision for Generalizable Dexterous Manipulation without VLA Retraining

Vision-language-action policies may predict a transferable manipulation strategy yet fail to realize it reliably on the encountered object: objects compatible with the same grasp differ in geometry and compliance, and visual feedback degrades under closure occlusion. AgenticTactileVLA is presented as an execution-time...

E. Semenyakina, Ivan Snegirev, Mikhail Kiselev et al. · 0 citations