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Tomoki Ando

Publications and source records attributed to Tomoki Ando.

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Ishigaki-IDS: An Open-Weight Verifier-Aware Model for Information Delivery Specification Drafting in Building Information Modeling

Building Information Modeling (BIM) projects require information requirements to be described as machine-checkable Information Delivery Specification (IDS) files in order to verify whether building models contain the required attributes. However, IDS authoring remains a practical bottleneck: practitioners must handle domain vocabulary, strict XML schema constraints, and external validator conformance while also checking whether the requirement itself is correctly expressed. We present Ishigaki-IDS, an open-weight LLM specialized for verifier-aware IDS draft generation. The model combines continued pretraining on BIM/IDS corpora, supervised fine-tuning on information-requirement-to-IDS pairs, and reinforcement learning with verifiable rewards from an external validator. The goal is not to replace expert review, but to move IDS authoring from low-level XML and schema repair toward validator-loadable drafts that practitioners can inspect and correct. On the 166-case expert-created Ishigaki-IDS-Bench, Ishigaki-IDS-8B achieves an IDSAuditPass score of 0.651, a validator-pass metric for generated IDS files, substantially outperforming Claude Opus 4.5, the strongest single-shot LLM baseline we evaluated, at 0.331. It also obtains an Audit-Gated FacetF1 of 0.282, which measures requirement-facet alignment among validator-passing drafts. The same recipe scales: 14B and 32B variants reach IDSAuditPass 0.753 / 0.693 and Audit-Gated FacetF1 0.392 / 0.369. In a workflow check with six BIM practitioners, Ishigaki-assisted authoring reduced aggregate work time by 54.7% under the same validation and alignment endpoint. These results suggest that verifier-aware IDS generation can reduce the practical burden of converting BIM information requirements into reviewable IDS drafts.

cs.CL

Ishigaki-IDS-Bench: A Benchmark for Generating Information Delivery Specification from BIM Information Requirements

Building Information Modeling (BIM) projects increasingly use Information Delivery Specification (IDS) to formalize information requirements in a machine-checkable XML format. Because IDS conditions are grounded in the Industry Foundation Classes (IFC) vocabulary, authoring them requires expertise in IFC concepts, validation tools, and property set conventions. Existing benchmarks for structured generation do not adequately capture the additional burden of vocabulary conformance and external-validator agreement that IDS imposes. We present Ishigaki-IDS-Bench, the first publicly released benchmark for IDS generation from BIM information requirements. The benchmark contains 166 examples spanning 83 practical scenarios authored in Japanese and English by six BIM/IDS experts, each paired with a gold IDS file and metadata covering input format, turn setting, target IFC versions, and construction domain. Evaluation proceeds in two stages: (i) formal validity scored by the buildingSMART IDSAuditTool along Processability, Structure, and Content, and (ii) content fidelity scored by facet-level macro-F1 against the gold IDS. Across 10 LLMs in zero-shot, the highest Facet F1 is 65.6%, achieved by GPT-5.5, while the highest Content pass rate is only 33.1%, achieved by Claude Opus 4.5. Ishigaki-IDS-Bench is released on Hugging Face (DOI 10.57967/hf/8873) under CC BY 4.0, and the evaluation code is released on Zenodo (DOI 10.5281/zenodo.20550510) under Apache-2.0.

cs.CL

Learning-based Collision-free Planning on Arbitrary Optimization Criteria in the Latent Space through cGANs

We propose a new method for collision-free planning using Conditional Generative Adversarial Networks (cGANs) to transform between the robot's joint space and a latent space that captures only collision-free areas of the joint space, conditioned by an obstacle map. Generating multiple plausible trajectories is convenient in applications such as the manipulation of a robot arm by enabling the selection of trajectories that avoids collision with the robot or surrounding environment. In the proposed method, various trajectories that avoid obstacles can be generated by connecting the start and goal state with arbitrary line segments in this generated latent space. Our method provides this collision-free latent space, after which any planner, using any optimization conditions, can be used to generate the most suitable paths on the fly. We successfully verified this method with a simulated and actual UR5e 6-DoF robotic arm. We confirmed that different trajectories could be generated depending on optimization conditions.

cs.RO

Collision-free Path Planning in the Latent Space through cGANs

We show a new method for collision-free path planning by cGANs by mapping its latent space to only the collision-free areas of the robot joint space. Our method simply provides this collision-free latent space after which any planner, using any optimization conditions, can be used to generate the most suitable paths on the fly. We successfully verified this method with a simulated two-link robot arm.

cs.RO