Author

Irfan Hussain

2 papers indexed here

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Preprint Sep 2026

ProAct-VLM: Pre-Failure Vision-Language Task Replanning with Continuous Perception Feedback

Long-horizon robotic tasks are vulnerable to unexpected environmental changes that can render planned actions ineffective or unsafe. To address this, robots must detect such changes as they occur, interpret their impact, and adjust their actions accordingly. Traditional rule-based decision-making pipelines are brittle...

Ahmed N. Ahmed, Omar Moured, Mughni Irfan Mohammed Abdul et al. · 0 citations

Preprint Jul 2026

SAGP: Semantic Affordance-Guided Grasp Planning via Coarse-Zone VLM Reasoning

Geometry-based grasp planners ensure physically valid grasps but ignore functional semantics, often generating grasps that are antipodal and collision-free yet practically inappropriate, for example, gripping a mug by its rim, a knife by the blade, or a bottle near its cap. These inconsistencies cause the downstream ta...

Muhayy ud Din, Irfan Hussain · 0 citations