Oh no, you're about to make things difficult for yourself. As most people know, an uninsulated slab on the ground with a raised floor is a risky construction. I'm sorry to have to tell you, but the underfloor heating doesn't make it any better.
First and foremost, remove any organic material from the slab. It should be spotlessly clean! Then plastic film so the diffusion stops as early as possible. On that, a floating floor with something like foam plastic as insulation. The surface layer must be able to breathe, so tiles or wooden flooring. Then you've done what you can.
If you don't want to remove the beams, still make sure the slab is clean, that you have a plastic film, and not too much insulation. However, you can probably increase it slightly since the underfloor heating will raise the temperature of the floor, but you'll likely have to settle for 95mm of mineral wool.
This underfloor heating that needs to go in everywhere...