1 citations · 2 across the 9 of their papers we have counts for
11 papers
FLASH-CBF-RRT: Fast Lipschitz-Adaptive Safe Horizon CBF Steering for Certified Motion Planning
Mani Amani, Hesam Mojtahedi, Reza Akhavian +2
Fast motion planning requires both sample-efficient exploration and computationally efficient local steering. Conventional straight-line steering is inexpensive but wastes samples…
BubbleCBF: Constructive Safety for Second-Order Systems and Application to Autonomous Robot Navigation in Unknown Environments
Mani Amani, Mohammed Alyaseen, Zhirui Dai +3
Satisfying safety constraints for systems with second-order dynamics is challenging because a position constraint may require infeasible deceleration. Higher-order control barrier…
Kernel-SDF: An Open-Source Library for Real-Time Signed Distance Function Estimation using Kernel Regression
Zhirui Dai, Tianxing Fan, Mani Amani +4
Accurate and efficient scene representation is crucial for robotic tasks such as motion planning, manipulation, and navigation. Signed distance functions (SDFs) have emerged as a p…
Bootstrapped LLM Semantics for Context-Aware Path Planning
Mani Amani, Behrad Beheshti, Reza Akhavian
Prompting robots with natural language (NL) has largely been studied as what task to execute (goal selection, skill sequencing) rather than how to execute that task safely and effi…
Digital Twin-Guided Robot Path Planning: A Beta-Bernoulli Fusion with Large Language Model as a Sensor
Mani Amani, Reza Akhavian
Integrating natural language (NL) prompts into robotic mission planning has attracted significant interest in recent years. In the construction domain, Building Information Models…
Building Information Models to Robot-Ready Site Digital Twins (BIM2RDT): An Agentic AI Safety-First Framework
Reza Akhavian, Mani Amani, Johannes Mootz +2
The adoption of cyber-physical systems and jobsite intelligence that connects design models, real-time site sensing, and autonomous field operations can dramatically enhance digita…
Bayesian BIM-Guided Construction Robot Navigation with NLP Safety Prompts in Dynamic Environments
Mani Amani, Reza Akhavian
Construction robotics increasingly relies on natural language processing for task execution, creating a need for robust methods to interpret commands in complex, dynamic environmen…
Safe and Trustworthy Robot Pathfinding with BIM, MHA*, and NLP
Mani Amani, Reza Akhavian
Construction robots have gained significant traction in recent years in research and development. However, the application of industrial robots has unique challenges. Dynamic envir…
Adaptive Robot Perception in Construction Environments using 4D BIM
Mani Amani, Reza Akhavian
Human Activity Recognition (HAR) is a pivotal component of robot perception for physical Human Robot Interaction (pHRI) tasks. In construction robotics, it is vital that robots hav…
Ergonomic Optimization in Worker-Robot Bimanual Object Handover: Implementing REBA Using Reinforcement Learning in Virtual Reality
Mani Amani, Reza Akhavian
Robots can serve as safety catalysts on construction job sites by taking over hazardous and repetitive tasks while alleviating the risks associated with existing manual workflows.…
Expanding Frozen Vision-Language Models without Retraining: Towards Improved Robot Perception
Riley Tavassoli, Mani Amani, Reza Akhavian
Vision-language models (VLMs) have shown powerful capabilities in visual question answering and reasoning tasks by combining visual representations with the abstract skill set larg…