An illegal immigrant accused of stealing the identity of an autistic man skipped his hearing Friday, prompting police to put out a warrant for his arrest.

Quincy police are on the lookout for Hairon Manuel Antuna Martinez, aka Carlos Esquilin. He had arrived in Quincy District Court early Friday morning but left before his pretrial hearing.

The 36-year-old who police believe is from the Dominican Republic has been charged with identity fraud/false impersonation, forgery of document, and using a false/stolen RMV document.

He also has pending heroin and cocaine charges out of Somerville District Court.

In November, Martinez was arrested on Hancock Street in Quincy. An officer in the drug detection canine unit saw a black Chrysler sedan cross over three lanes of traffic, including a solid double yellow line, police said.

The officer also noticed the car did not have a working rear license plate light. The officer activated his lights and siren, and pulled over the sedan, police said.

The man handed the officer a Massachusetts driver’s license and vehicle registration identifying him as Esquilin. His Social Security number was issued in Puerto Rico, so police checked with the Puerto Rico RMV.

The Puerto Rico Esquilin license showed an entirely different person from the Massachusetts Esquilin license, police said.

Police said they determined that this man was an impostor, who stole the identity from an autistic man in Puerto Rico. They said he then fraudulently obtained a Massachusetts ID and vehicle registration using that stolen identity.

Based on fingerprinting evidence, police believe the man’s true identity is Martinez.