6 papers
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…