profile picture

Lotfi El Hafi

エル ハフィ ロトフィ

Contact

Scholar

Languages

  • French (Native)
  • English (Professional)
  • Japanese (Conversational)

About

  • 2012 ©

PhD, Research Associate Professor at Ritsumeikan University, President & Founder of Coarobo GK, Husband & Father of 3, based in Japan.

[Last updated: June 2025.]

Extended Bio

Lotfi El Hafi, PhD, is a Research Associate Professor at Ritsumeikan University, Japan, and the President & Founder of Coarobo GK, Japan.

He received his MScEng in Mechatronics from the Université catholique de Louvain (UCLouvain), Belgium, in 2013, and his PhD in Engineering from the Nara Institute of Science and Technology (NAIST), Japan, in 2017. His master’s thesis contributed to TICO compression, now standardized as JPEG XS, for Ultra HD 4K/8K video distribution during an internship at intoPIX SA, Belgium, and later as a Sales Engineer while completing the AWEX International Business & Management EXPLORT Program. He then joined the Robotics Laboratory at NAIST as a recipient of the MEXT Scholarship in 2014. His PhD thesis proposed a novel eye-tracking method, “Simultaneous Tracking and Attention Recognition from Eyes (STARE),” which leveraged deep learning to extract behaviors from scene images reflected in the eyes, earning him the “Best of IET and IBC 2016–2017.”

He joined the Ritsumeikan Global Innovation Research Organization (R-GIRO) of Ritsumeikan University, Japan, for the “International and Interdisciplinary Research Center for the Next-Generation Artificial Intelligence and Semiotics (AI+Semiotics)” project as a Senior Researcher in 2017, later becoming Research Assistant Professor in 2019. His research activities included service robotics, AI, and system integration, with a particular interest in multimodal interaction in extended reality (XR). In this regard, he received 2 research awards from JST CREST: the “Best Award for Research Proposal Breaking Hagita-CREST Shell: Visualization of Emergent Reality in Robotics for Future Harmonious Interaction” and the “Best Award for Forecasting Research Proposal: Toward Early Realization of Harmonious Human-Robot Interaction.”

He has also won numerous international robotics competition prizes, including the “1st Place” in the Airbus Shopfloor Challenge at IEEE ICRA 2016, the “Finalist Prize” in the Amazon Robotics Challenge 2017, the “NEDO Chairman’s Award for Excellence in World Robot Summit 2018,” the “SICE Award for WRS Future Convenience Store Challenge 2018,” the “METI Minister’s Award for Excellence in World Robot Summit 2020,” the “2nd Place Regional Prize in Eastern Asia + South Eastern Asia” in the OpenCV AI Competition 2021, and multiple “1st Places” in the WRS Future Convenience Store Challenge since 2018, including one at IEEE/RSJ IROS 2022. These contributions addressed both the technological and theoretical challenges of super-smart societies (Society 5.0), in collaboration with the Robotics Hub of Panasonic Corporation, Japan, where he has served as a Research Advisor for Robotics Competitions since 2019. There, he contributed to the development of AMIS, or “Autonomous Manipulation for Intelligence Services,” a human-centered robotic platform, also in collaboration with NAIST.

His recognized achievements in competitions also led to his appointment as a Specially Appointed Researcher of HSR Community by Toyota Motor Corporation, Japan, from 2020 to 2022, during which he developed a containerized Software Development Environment (SDE) using cloud-first, open-source technologies to accelerate cross-institutional collaborative R&D. More than 20 institutions across Japan and the EU are known to have tested the SDE, with half adopting it for research. This endeavor earned him the inaugural “HSR Community Research Encouragement Award” from RSJ in 2022.

He has held the position of Research Associate Professor at the Research Organization of Science and Technology of Ritsumeikan University, Japan, since 2023. His contributions to the development of large-scale cognitive architectures for the JST CREST project “Symbol Emergence in Robotics for Future Human-Machine Collaboration” and the JST Moonshot R&D Program “The Realization of an Avatar-Symbiotic Society where Everyone Can Perform Active Roles without Constraint” have led him to investigate the mechanisms of multimodal robot learning in XR. His recent work on probabilistic inference and contrastive learning for service robots received the “Best Paper Awards” at IEEE/SICE SII 2023 and IEEE IRC 2024, respectively.

Over the years, he has authored over 80 academic publications and holds an h-index of 13 on Google Scholar, with more than 450 citations. He has helped build a vibrant research environment at Ritsumeikan University through successful grant applications as a Principal Investigator, including a competitive JSPS KAKENHI Grant-in-Aid for Early-Career Scientists titled “Emergent Reality: Knowledge Formation from Multimodal Learning through Human-Robot Interaction in Extended Reality,” securing over 15 million JPY in cumulative internal and external funding. He also informally supervises graduate students and international interns in the Emergent Systems Laboratory at Ritsumeikan University and has formally supervised 4 international master’s theses with UCLouvain.

He is an active member of IEEE (since 2015) and RSJ (since 2017), and a former member of JSME (2017–2022). He has peer-reviewed over 35 manuscripts for prestigious journals and conferences and served as Associate Editor for IEEE RO-MAN 2021 and Publicity Chair for IEEE/SICE SII 2026. Finally, he is the President & Founder of Coarobo GK, Japan, which provides containerized SDE solutions for researchers and developers in the fields of service robotics and AI.

[Last updated: June 2025.]

Publication List

  1. S. Hasegawa, K. Murata, T. Ishikawa, Y. Hagiwara, A. Taniguchi, L. El Hafi, G. A. Garcia Ricardez, and T. Taniguchi, "大規模言語モデルによる複数ロボットの知識統合とタスク割当を用いた現場学習のコスト削減 (Reducing Cost of On-Site Learning by Multi-Robot Knowledge Integration and Task Decomposition via Large Language Models)", in Journal of the Robotics Society of Japan (JRSJ), 2025. [Domestic journal article, peer-reviewed.][Published in Japanese.][Accepted for publication.]

    < Abstract >

  2. L. El Hafi, K. Onishi, S. Hasegawa, A. Oyama, T. Ishikawa, M. Osada, C. Tornberg, R. Kado, K. Murata, S. Hashimoto, S. Carrera Villalobos, A. Taniguchi, G. A. Garcia Ricardez, Y. Hagiwara, T. Aoki, K. Iwata, T. Horii, Y. Horikawa, T. Miyashita, T. Taniguchi, and H. Ishiguro, "Public Evaluation on Potential Social Impacts of Fully Autonomous Cybernetic Avatars for Physical Support in Daily-Life Environments: Large-Scale Demonstration and Survey at Avatar Land", in Proceedings of 2025 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO 2025), pp. 182-187, Osaka, Japan, Jul. 17, 2025. DOI: 10.1109/ARSO64737.2025.11124957 [International conference article, peer-reviewed.]

    < Abstract >

  3. A. Silahli, J. P. De la Rosa, J. Solis, G. A. Garcia Ricardez, L. El Hafi, J. Håkansson, A. S. Sørensen, and T. Rocha Silva, "A Gesture-based Behaviour-driven Development Approach for End-User Cobot Programming", in Robotica, Special Issue on Recent Advances in Parallel and Service Robotics, from Development to Applications, vol. 43, no. 6, pp. 2046-2080, Jun. 26, 2025. DOI: 10.1017/S0263574725101720 [International journal article, peer-reviewed.]

    < Abstract >

  4. A. Fleury, "Toward Adaptive Human-Robot Collaboration in Manipulation Tasks via Fine-Tuned Robotic Foundation Models", in Master's Thesis at Université catholique de Louvain (UCLouvain), Louvain-la-Neuve, Belgium, Jun. 26, 2025. [Master's thesis.][Supervised by R. Ronsse, B. Macq, G. A. Garcia Ricardez, L. El Hafi, and E. Piette.]

    < Abstract >

  5. A. Torck, "Control Interfaces for Human-Robot Collaboration in Extended Reality", in Master's Thesis at Université catholique de Louvain (UCLouvain), Louvain-la-Neuve, Belgium, Jun. 26, 2025. [Master's thesis.][Supervised by R. Ronsse, B. Macq, L. El Hafi, G. A. Garcia Ricardez, and E. Piette.]

    < Abstract >

  6. B. Bastin, S. Hasegawa, J. Solis, R. Ronsse, B. Macq, L. El Hafi, G. A. Garcia Ricardez, and T. Taniguchi, "GPTAlly: A Safety-oriented System for Human-Robot Collaboration based on Foundation Models", in Proceedings of 2025 IEEE/SICE International Symposium on System Integration (SII 2025), pp. 878-884, Munich, Germany, Jan. 21, 2025. DOI: 10.1109/SII59315.2025.10870936 [International conference article, peer-reviewed.]

    < Abstract >

  7. E. Martin, S. Hasegawa, J. Solis, B. Macq, R. Ronsse, G. A. Garcia Ricardez, L. El Hafi*, and T. Taniguchi, "Integrating Multimodal Communication and Comprehension Evaluation during Human-Robot Collaboration for Increased Reliability of Foundation Model-based Task Planning Systems", in Proceedings of 2025 IEEE/SICE International Symposium on System Integration (SII 2025), pp. 1053-1059, Munich, Germany, Jan. 21, 2025. DOI: 10.1109/SII59315.2025.10871045 [International conference article, peer-reviewed.][*Corresponding author.]

    < Abstract >

  8. T. Sakaguchi, A. Taniguchi, Y. Hagiwara, L. El Hafi, S. Hasegawa, and T. Taniguchi, "Real-World Instance-specific Image Goal Navigation: Bridging Domain Gaps via Contrastive Learning", in Proceedings of 2024 IEEE International Conference on Robotic Computing (IRC 2024), pp. 139-146, Tokyo, Japan, Dec. 11, 2024. DOI: 10.1109/IRC63610.2024.00032 [International conference article, peer-reviewed.]

    < Abstract >

  9. T. Sakaguchi, A. Taniguchi, Y. Hagiwara, L. El Hafi, S. Hasegawa, and T. Taniguchi, "Object Instance Retrieval in Assistive Robotics: Leveraging Fine-tuned SimSiam with Multi-View Images based on 3D Semantic Map", in Proceedings of 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), pp. 7817-7824, Abu Dhabi, United Arab Emirates, Oct. 14, 2024. DOI: 10.1109/IROS58592.2024.10802697 [International conference article, peer-reviewed.]

    < Abstract >

  10. S. Hashimoto, T. Ishikawa, S. Hasegawa, A. Taniguchi, Y. Hagiwara, L. El Hafi, and T. Taniguchi, "Ownership Information Acquisition of Objects in the Environment by Active Question Generation with Multimodal Large Language Models and Probabilistic Generative Models", in Proceedings of 2024 SIGDIAL Workshop on Spoken Dialogue Systems for Cybernetic Avatars (SDS4CA 2024), pp. 1-1, Kyoto, Japan, Sep. 17, 2024. [International workshop abstract, non-peer-reviewed.]

    < Abstract >

  11. T. Matsushima, R. Takanami, M. Kambara, Y. Noguchi, J. Arima, Y. Ikeda, K. Yanagida, K. Iwata, S. Hasegawa, L. El Hafi, K. Yamao, K. Isomoto, N. Yamaguchi, R. Kobayashi, T. Shiba, Y. Yano, A. Mizutani, H. Tamukoh, T. Horii, K. Sugiura, T. Taniguchi, Y. Matsuo, and Y. Iwasawa, "HSRT-X: コミュニティを活用したロボット基盤モデルの構築", in Proceedings of 2024 Annual Conference of the Robotics Society of Japan (RSJ 2024), ref. RSJ2024AC1D2-01, pp. 1-4, Osaka, Japan, Sep. 3, 2024. [Domestic conference article, non-peer-reviewed.][Published in Japanese.]

    < Abstract >

  12. S. Hasegawa, K. Murata, T. Ishikawa, Y. Hagiwara, A. Taniguchi, L. El Hafi, G. A. Garcia Ricardez, and T. Taniguchi, "マルチモーダル大規模言語モデルによる複数ロボットの知識統合とタスク割当を用いた現場学習のコスト削減", in Proceedings of 2024 Annual Conference of the Robotics Society of Japan (RSJ 2024), ref. RSJ2024AC1D2-02, pp. 1-4, Osaka, Japan, Sep. 3, 2024. [Domestic conference article, non-peer-reviewed.][Published in Japanese.]

    < Abstract >

  13. K. Murata, S. Hasegawa, T. Ishikawa, Y. Hagiwara, A. Taniguchi, L. El Hafi, and T. Taniguchi, "ロボット間の現場知識の差を考慮した基盤モデルによる物体探索の言語指示におけるタスク分解と割当", in Proceedings of 2024 Annual Conference of the Robotics Society of Japan (RSJ 2024), ref. RSJ2024AC3D2-05, pp. 1-4, Osaka, Japan, Sep. 3, 2024. [Domestic conference article, non-peer-reviewed.][Published in Japanese.]

    < Abstract >

  14. T. Nakashima, S. Otake, A. Taniguchi, K. Maeyama, L. El Hafi, T. Taniguchi, and H. Yamakawa, "Hippocampal Formation-inspired Global Self-Localization: Quick Recovery from the Kidnapped Robot Problem from an Egocentric Perspective", in Frontiers in Computational Neuroscience, Research Topic on Brain-Inspired Intelligence: The Deep Integration of Brain Science and Artificial Intelligence, vol. 18, pp. 1-15, Jul. 18, 2024. DOI: 10.3389/fncom.2024.1398851 [International journal article, peer-reviewed.]

    < Abstract >

  15. B. Bastin, "GPTAlly: A Safety-oriented System for Human-Robot Collaboration based on Foundation Models", in Master's Thesis at Université catholique de Louvain (UCLouvain), Louvain-la-Neuve, Belgium, Jun. 2024. [Master's thesis.][Supervised by B. Macq, R. Ronsse, G. A. Garcia Ricardez, L. El Hafi, and J. Solis.]

    < Abstract >

  16. E. Martin, "Task Planning System using Foundation Models in Multimodal Human-Robot Collaboration", in Master's Thesis at Université catholique de Louvain (UCLouvain), Louvain-la-Neuve, Belgium, Jun. 2024. [Master's thesis.][Supervised by L. El Hafi, G. A. Garcia Ricardez, B. Macq, R. Ronsse, and J. Solis.]

    < Abstract >

  17. C. Tornberg, L. El Hafi*, P. M. Uriguen Eljuri, M. Yamamoto, G. A. Garcia Ricardez, J. Solis, and T. Taniguchi, "Mixed Reality-based 6D-Pose Annotation System for Robot Manipulation in Retail Environments", in Proceedings of 2024 IEEE/SICE International Symposium on System Integration (SII 2024), pp. 1425-1432, Ha Long, Vietnam, Jan. 8, 2024. DOI: 10.1109/SII58957.2024.10417443 [International conference article, peer-reviewed.][*Corresponding author.]

    < Abstract >

  18. P. Zhu, L. El Hafi*, and T. Taniguchi, "Visual-Language Decision System through Integration of Foundation Models for Service Robot Navigation", in Proceedings of 2024 IEEE/SICE International Symposium on System Integration (SII 2024), pp. 1288-1295, Ha Long, Vietnam, Jan. 8, 2024. DOI: 10.1109/SII58957.2024.10417171 [International conference article, peer-reviewed.][*Corresponding author.]

    < Abstract >

  19. A. Kanechika, L. El Hafi*, A. Taniguchi, Y. Hagiwara, and T. Taniguchi, "Interactive Learning System for 3D Semantic Segmentation with Autonomous Mobile Robots", in Proceedings of 2024 IEEE/SICE International Symposium on System Integration (SII 2024), pp. 1274-1281, Ha Long, Vietnam, Jan. 8, 2024. DOI: 10.1109/SII58957.2024.10417237 [International conference article, peer-reviewed.][*Corresponding author.]

    < Abstract >

  20. S. Hasegawa, A. Taniguchi, Y. Hagiwara, L. El Hafi, and T. Taniguchi, "Integrating Probabilistic Logic and Multimodal Spatial Concepts for Efficient Robotic Object Search in Home Environments", in SICE Journal of Control, Measurement, and System Integration (JCMSI), Virtual Issue on IEEE/SICE SII 2023, vol. 16, no. 1, pp. 400-422, Dec. 26, 2023. DOI: 10.1080/18824889.2023.2283954 [International journal article, peer-reviewed.]

    < Abstract >

  21. G. A. Garcia Ricardez, C. Tornberg, L. El Hafi, J. Solis, and T. Taniguchi, "Toward Safe and Efficient Human-Robot Teams: Mixed Reality-based Robot Motion and Safety Index Visualization", in Abstract Booklet of 16th IFToMM World Congress (WC 2023), pp. 53-54, Tokyo, Japan, Nov. 5, 2023. [International conference abstract, peer-reviewed.]

    < Abstract >

  22. Y. Hagiwara, S. Hasegawa, A. Oyama, A. Taniguchi, L. El Hafi, and T. Taniguchi, "現場環境で学習した知識に基づく曖昧な発話からの生活物理支援タスク", in Proceedings of 2023 Annual Conference of the Robotics Society of Japan (RSJ 2023), ref. RSJ2023AC1J1-05, pp. 1-4, Sendai, Japan, Sep. 9, 2023. [Domestic conference article, non-peer-reviewed.][Published in Japanese.]

    < Abstract >

  23. S. Hasegawa, M. Ito, R. Yamaki, T. Sakaguchi, Y. Hagiwara, A. Taniguchi, L. El Hafi, and T. Taniguchi, "生活支援ロボットの行動計画のための大規模言語モデルと場所概念モデルの活用", in Proceedings of 2023 Annual Conference of the Robotics Society of Japan (RSJ 2023), ref. RSJ2023AC1K3-06, pp. 1-4, Sendai, Japan, Sep. 9, 2023. [Domestic conference article, non-peer-reviewed.][Published in Japanese.]

    < Abstract >

  24. G. A. Garcia Ricardez, T. Wakayama, S. Ikemura, E. Fujiura, P. M. Uriguen Eljuri, H. Ikeuchi, M. Yamamoto, L. El Hafi, and T. Taniguchi, "Toward Resilient Manipulation of Food Products: Analysis of 6D-Pose Estimation at the Future Convenience Store Challenge 2022", in Proceedings of 2023 IEEE International Conference on Automation Science and Engineering (CASE 2023), pp. 1-6, Auckland, New Zealand, Aug. 26, 2023. DOI: 10.1109/CASE56687.2023.10260506 [International conference article, peer-reviewed.]

    < Abstract >

  25. A. Taniguchi, Y. Tabuchi, T. Ishikawa, L. El Hafi, Y. Hagiwara, and T. Taniguchi, "Active Exploration based on Information Gain by Particle Filter for Efficient Spatial Concept Formation", in Advanced Robotics (AR), Special Issue on World Models and Predictive Coding in Robotics (Part I), vol. 37, no. 13, pp. 840-870, Jul. 3, 2023. DOI: 10.1080/01691864.2023.2225175 [International journal article, peer-reviewed.]

    < Abstract >

  26. S. Hasegawa, R. Yamaki, A. Taniguchi, Y. Hagiwara, L. El Hafi, and T. Taniguchi, "大規模言語モデルと場所概念モデルの統合による未観測物体の語彙を含んだ言語指示理解 (Understanding Language Instructions that Include the Vocabulary of Unobserved Objects by Integrating a Large Language Model and a Spatial Concept Model)", in Proceedings of 2023 Annual Conference of the Japanese Society for Artificial Intelligence (JSAI 2023), ref. 1Q4-OS-7b-03, pp. 1-4, Kumamoto, Japan, Jun. 6, 2023. DOI: 10.11517/pjsai.JSAI2023.0_1Q4OS7b03 [Domestic conference article, non-peer-reviewed.][Published in Japanese.]

    < Abstract >

  27. L. El Hafi, Y. Zheng, H. Shirouzu, T. Nakamura, and T. Taniguchi, "Serket-SDE: A Containerized Software Development Environment for the Symbol Emergence in Robotics Toolkit", in Proceedings of 2023 IEEE/SICE International Symposium on System Integration (SII 2023), pp. 1-6, Atlanta, United States, Jan. 17, 2023. DOI: 10.1109/SII55687.2023.10039424 [International conference article, peer-reviewed.]

    < Abstract >

  28. S. Hasegawa, A. Taniguchi, Y. Hagiwara, L. El Hafi, and T. Taniguchi, "Inferring Place-Object Relationships by Integrating Probabilistic Logic and Multimodal Spatial Concepts", in Proceedings of 2023 IEEE/SICE International Symposium on System Integration (SII 2023), pp. 1-8, Atlanta, United States, Jan. 17, 2023. DOI: 10.1109/SII55687.2023.10039318 [International conference article, peer-reviewed.]

    < Abstract >

  29. H. Nakamura, L. El Hafi*, A. Taniguchi, Y. Hagiwara, and T. Taniguchi, "Multimodal Object Categorization with Reduced User Load through Human-Robot Interaction in Mixed Reality", in Proceedings of 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), pp. 2143-2150, Kyoto, Japan, Oct. 23, 2022. DOI: 10.1109/IROS47612.2022.9981374 [International conference article, peer-reviewed.][*Corresponding author.]

    < Abstract >

  30. G. A. Garcia Ricardez, P. M. Uriguen Eljuri, Y. Kamemura, S. Yokota, N. Kugou, Y. Asama, Z. Wang, H. Kumamoto, K. Yoshimoto, W. Y. Chan, T. Nagatani, P. Tulathum, B. Usawalertkamol, L. El Hafi, H. Ikeuchi, M. Yamamoto, J. Takamatsu, T. Taniguchi, and T. Ogasawara, "Autonomous Service Robot for Human-aware Restock, Straightening and Disposal Tasks in Retail Automation", in Advanced Robotics (AR), Special Issue on Service Robot Technology: Selected Papers from WRS 2020 (Part I), vol. 36, no. 17-18, pp. 936-950, Sep. 17, 2022. DOI: 10.1080/01691864.2022.2109429 [International journal article, peer-reviewed.]

    < Abstract >

  31. T. Wakayama, E. Fujiura, M. Yamaguchi, N. Yoshida, T. Inoue, H. Ikeuchi, M. Yamamoto, L. El Hafi, G. A. Garcia Ricardez, J. Takamatsu, T. Taniguchi, and T. Ogasawara, "Versatile Cleaning Service Robot based on a Mobile Manipulator with Tool Switching for Liquids and Garbage Removal in Restrooms", in Advanced Robotics (AR), Special Issue on Service Robot Technology: Selected Papers from WRS 2020 (Part I), vol. 36, no. 17-18, pp. 967-981, Sep. 17, 2022. DOI: 10.1080/01691864.2022.2109430 [International journal article, peer-reviewed.]

    < Abstract >

  32. P. M. Uriguen Eljuri, Y. Toramatsu, K. Maeyama, L. El Hafi, and T. Taniguchi, "Software Development Environment to Collect Sensor and Robot Data for Imitation Learning of a Pseudo Cranial Window Task", in Proceedings of 2022 Annual Conference of the Robotics Society of Japan (RSJ 2022), ref. RSJ2024AC4A2-07, pp. 1-4, Tokyo, Japan, Sep. 5, 2022. [Domestic conference article, non-peer-reviewed.]

    < Abstract >

  33. S. Hasegawa, Y. Hagiwara, A. Taniguchi, L. El Hafi, and T. Taniguchi, "確率論理と場所概念を結合したモデルによる場所の学習コストの削減 (Reducing the Cost of Learning Places via a Model that Integrates Probabilistic Logic and Spatial Concept)", in Proceedings of 2022 Annual Conference of the Japanese Society for Artificial Intelligence (JSAI 2022), ref. 1N5-OS-10b-04, pp. 1-4, Kyoto, Japan, Jun. 14, 2022. DOI: 10.11517/pjsai.JSAI2022.0_1N5OS10b04 [Domestic conference article, non-peer-reviewed.][Published in Japanese.]

    < Abstract >

  34. G. A. Garcia Ricardez, L. El Hafi, H. Ikeuchi, M. Yamamoto, J. Takamatsu, T. Taniguchi, and T. Ogasawara, "Team NAIST-RITS-Panasonic at the Future Convenience Store Challenge: Our Approach from 2018 to 2021", in Journal of the Society of Instrument and Control Engineers (SICE), Special Issue on WRS Future Convenience Store Challenge, vol. 61, no. 6, pp. 422-425, Jun. 10, 2022. DOI: 10.11499/sicejl.61.422 [Domestic journal article, peer-reviewed.]

    < Abstract >

  35. L. El Hafi, G. A. Garcia Ricardez, F. von Drigalski, Y. Inoue, M. Yamamoto, and T. Yamamoto, "Software Development Environment for Collaborative Research Workflow in Robotic System Integration", in Advanced Robotics (AR), Special Issue on Software Framework for Robot System Integration, vol. 36, no. 11, pp. 533-547, Jun. 3, 2022. DOI: 10.1080/01691864.2022.2068353 [International journal article, peer-reviewed.]

    < Abstract >

  36. T. Wakayama, E. Fujiura, M. Yamaguchi, H. Ikeuchi, M. Yamamoto, L. El Hafi, and G. A. Garcia Ricardez, "掃除ツール取り換え機能を有する多種類ゴミ廃棄可能なトイレ清掃ロボットの開発 World Robot Summit 2020 Future Convenience Store Challengeを活用した実用システム開発の試み (Development of the Restroom Cleaning Robot that Can Dispose of Various Types of Garbage with a Cleaning Tool Change Function: Attempt to Develop a Practical System utilizing World Robot Summit 2020 Future Convenience Store Challenge)", in Proceedings of 2022 JSME Conference on Robotics and Mechatronics (ROBOMECH 2022), no. 22-2, ref. 2P2-T03, pp. 1-4, Sapporo, Japan, Jun. 1, 2022. DOI: 10.1299/jsmermd.2022.2P2-T03 [Domestic conference article, non-peer-reviewed.][Published in Japanese.]

    < Abstract >

  37. A. Taniguchi, L. El Hafi, Y. Hagiwara, and T. Taniguchi, "記号創発ロボティクスにおける場所概念の形成と応用 (Spatial Concept Formation for Symbol Emergence in Robotics and its Application)", in ISCIE Systems, Control and Information, Special Issue on Spatial Cognition and Semantic Understanding in Mobile Robots, vol. 66 no. 4, pp. 133-138, Apr. 15, 2022. DOI: 10.11509/isciesci.66.4_133 [Domestic journal article, non-peer-reviewed.][Published in Japanese.]

    < Abstract >

  38. Y. Katsumata, A. Kanechika, A. Taniguchi, L. El Hafi, Y. Hagiwara, and T. Taniguchi, "Map Completion from Partial Observation using the Global Structure of Multiple Environmental Maps", in Advanced Robotics (AR), Special Issue on Symbol Emergence in Robotics and Cognitive Systems (II), vol. 36, no. 5-6, pp. 279-290, Mar. 19, 2022. DOI: 10.1080/01691864.2022.2029762 [International journal article, peer-reviewed.]

    < Abstract >

  39. T. Fukumori, C. Cai, Y. Zhang, L. El Hafi, Y. Hagiwara, T. Nishiura, and T. Taniguchi, "Optical Laser Microphone for Human-Robot Interaction: Speech Recognition in Extremely Noisy Service Environments", in Advanced Robotics (AR), Special Issue on Symbol Emergence in Robotics and Cognitive Systems (II), vol. 36, no. 5-6, pp. 304-317, Mar. 19, 2022. DOI: 10.1080/01691864.2021.2023629 [International journal article, peer-reviewed.]

    < Abstract >

  40. J. Wang, L. El Hafi*, A. Taniguchi, Y. Hagiwara, and T. Taniguchi, "Extending HoloGAN by Embedding Image Content into Latent Vectors for Novel View Synthesis", in Proceedings of 2022 IEEE/SICE International Symposium on System Integration (SII 2022), pp. 383-389, Narvik, Norway (Virtual), Jan. 9, 2022. DOI: 10.1109/SII52469.2022.9708823 [International conference article, peer-reviewed.][*Corresponding author.]

    < Abstract >

  41. A. S. Rathore, L. El Hafi*, G. A. Garcia Ricardez, and T. Taniguchi, "Human Action Categorization System using Body Pose Estimation for Multimodal Observations from Single Camera", in Proceedings of 2022 IEEE/SICE International Symposium on System Integration (SII 2022), pp. 914-920, Narvik, Norway (Virtual), Jan. 9, 2022. DOI: 10.1109/SII52469.2022.9708816 [International conference article, peer-reviewed.][*Corresponding author.]

    < Abstract >

  42. P. M. Uriguen Eljuri, L. El Hafi, G. A. Garcia Ricardez, A. Taniguchi, and T. Taniguchi, "Neural Network-based Motion Feasibility Checker to Validate Instructions in Rearrangement Tasks before Execution by Robots", in Proceedings of 2022 IEEE/SICE International Symposium on System Integration (SII 2022), pp. 1058-1063, Narvik, Norway (Virtual), Jan. 9, 2022. DOI: 10.1109/SII52469.2022.9708602 [International conference article, peer-reviewed.]

    < Abstract >

  43. T. Wakayama, G. A. Garcia Ricardez, L. El Hafi, and J. Takamatsu, "6D-Pose Estimation for Manipulation in Retail Robotics using the Inference-embedded OAK-D Camera", in Proceedings of 2022 IEEE/SICE International Symposium on System Integration (SII 2022), pp. 1046-1051, Narvik, Norway (Virtual), Jan. 9, 2022. DOI: 10.1109/SII52469.2022.9708910 [International conference article, peer-reviewed.]

    < Abstract >

  44. P. M. Uriguen Eljuri, Y. Toramatsu, L. El Hafi, G. A. Garcia Ricardez, A. Taniguchi, and T. Taniguchi, "物体の再配置タスクにおける動作実行可能性判定器のニューラルネットワークを用いた高速化 (Neural Network Acceleration of Motion Feasibility for Object Arrangement Task)", in Proceedings of 2021 SICE System Integration Division Annual Conference (SI 2021), pp. 3422-3425, (Virtual), Dec. 15, 2021. [Domestic conference article, non-peer-reviewed.][Published in Japanese.]

    < Abstract >

  45. S. Hasegawa, A. Taniguchi, Y. Hagiwara, L. El Hafi, T. Nakashima, and T. Taniguchi, "確率論理と場所概念モデルの結合による確率的プランニング", in Proceedings of 2021 Annual Conference of the Robotics Society of Japan (RSJ 2021), ref. RSJ2021AC2H2-01, pp. 1-4, (Virtual), Sep. 8, 2021. [Domestic conference article, non-peer-reviewed.][Published in Japanese.]

    < Abstract >

  46. T. Nakashima, A. Taniguchi, L. El Hafi, Y. Hagiwara, and T. Taniguchi, "場所概念獲得がLoop Closure性能に及ぼす影響評価", in Proceedings of 2021 Annual Conference of the Robotics Society of Japan (RSJ 2021), ref. RSJ2021AC1I4-06, pp. 1-3, (Virtual), Sep. 8, 2021. [Domestic conference article, non-peer-reviewed.][Published in Japanese.]

    < Abstract >

  47. A. Kanechika, L. El Hafi, A. Taniguchi, Y. Hagiwara, and T. Taniguchi, "自然な発話文教示に基づく弱教師あり物体領域分割の検証", in Proceedings of 2021 Annual Conference of the Robotics Society of Japan (RSJ 2021), ref. RSJ2021AC1I2-02, pp. 1-4, (Virtual), Sep. 8, 2021. [Domestic conference article, non-peer-reviewed.][Published in Japanese.]

    < Abstract >

  48. T. Taniguchi, L. El Hafi, Y. Hagiwara, A. Taniguchi, N. Shimada, and T. Nishiura, "The Necessity of Semiotically Adaptive Cognition for Realizing Remotely-Operated Service Robots in the New Normal Society", in Proceedings of 2021 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO 2021), pp. 266-267, Tokoname, Japan (Virtual), Jul. 8, 2021. [International conference article, peer-reviewed.]

    < Abstract >

  49. T. Taniguchi, L. El Hafi, Y. Hagiwara, A. Taniguchi, N. Shimada, and T. Nishiura, "Semiotically Adaptive Cognition: Toward the Realization of Remotely-Operated Service Robots for the New Normal Symbiotic Society", in Advanced Robotics (AR), Extra Special Issue on Soft/Social/Systemic (3S) Robot Technologies for Enhancing Quality of New Normal (QoNN), vol. 35, no. 11, pp. 664-674, Jun. 3, 2021. DOI: 10.1080/01691864.2021.1928552 [International journal article, peer-reviewed.]

    < Abstract >

  50. A. Taniguchi, S. Isobe, L. El Hafi, Y. Hagiwara, and T. Taniguchi, "Autonomous Planning based on Spatial Concepts to Tidy Up Home Environments with Service Robots", in Advanced Robotics (AR), vol. 35, no. 8, pp. 471-489, Apr. 18, 2021. DOI: 10.1080/01691864.2021.1890212 [International journal article, peer-reviewed.]

    < Abstract >

  51. L. El Hafi, H. Nakamura, A. Taniguchi, Y. Hagiwara, and T. Taniguchi, "Teaching System for Multimodal Object Categorization by Human-Robot Interaction in Mixed Reality", in Proceedings of 2021 IEEE/SICE International Symposium on System Integration (SII 2021), pp. 320-324, Iwaki, Japan (Virtual), Jan. 11, 2021. DOI: 10.1109/IEEECONF49454.2021.9382607 [International conference article, peer-reviewed.]

    < Abstract >

  52. K. Hayashi, W. Zheng, L. El Hafi, Y. Hagiwara, and T. Taniguchi, "Bidirectional Generation of Object Images and Positions using Deep Generative Models for Service Robotics Applications", in Proceedings of 2021 IEEE/SICE International Symposium on System Integration (SII 2021), pp. 325-329, Iwaki, Japan (Virtual), Jan. 11, 2021. DOI: 10.1109/IEEECONF49454.2021.9382768 [International conference article, peer-reviewed.]

    < Abstract >

  53. Y. Katsumata, A. Taniguchi, L. El Hafi, Y. Hagiwara, and T. Taniguchi, "SpCoMapGAN: Spatial Concept Formation-based Semantic Mapping with Generative Adversarial Networks", in Proceedings of 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020), pp. 7927-7934, Las Vegas, United States (Virtual), Oct. 24, 2020. DOI: 10.1109/IROS45743.2020.9341456 [International conference article, peer-reviewed.]

    < Abstract >

  54. L. El Hafi and T. Yamamoto, "Toward the Public Release of a Software Development Environment for Human Support Robots", in Proceedings of 2020 Annual Conference of the Robotics Society of Japan (RSJ 2020), ref. RSJ2020AC3E1-01, pp. 1-2, (Virtual), Oct. 9, 2020. [Domestic conference article, non-peer-reviewed.]

    < Abstract >

  55. Y. Katsumata, A. Kanechika, A. Taniguchi, L. El Hafi, Y. Hagiwara, and T. Taniguchi, "深層生成モデルを用いた地図補完とSLAMの統合", in Proceedings of 2020 Annual Conference of the Robotics Society of Japan (RSJ 2020), ref. RSJ2020AC2C1-01, pp. 1-4, (Virtual), Oct. 9, 2020. [Domestic conference article, non-peer-reviewed.][Published in Japanese.]

    < Abstract >

  56. H. Nakamura, L. El Hafi, A. Taniguchi, Y. Hagiwara, and T. Taniguchi, "拡張現実を用いたロボットの物体カテゴリ分類教示システムの提案", in Proceedings of 2020 Annual Conference of the Robotics Society of Japan (RSJ 2020), ref. RSJ2020AC2E3-02, pp. 1-4, (Virtual), Oct. 9, 2020. [Domestic conference article, non-peer-reviewed.][Published in Japanese.]

    < Abstract >

  57. A. Taniguchi, Y. Tabuchi, L. El Hafi, Y. Hagiwara, and T. Taniguchi, "環境の能動的な探索による効率的な場所概念の形成 (Efficient Spatial Concept Formation by Active Exploration of the Environment)", in Proceedings of 2020 Annual Conference of the Japanese Society for Artificial Intelligence (JSAI 2020), ref. 2M4-OS-3a-05, pp. 1-4, Kumamoto, Japan (Virtual), Jun. 9, 2020. DOI: 10.11517/pjsai.JSAI2020.0_2M4OS3a05 [Domestic conference article, non-peer-reviewed.][Published in Japanese.]

    < Abstract >

  58. Y. Katsumata, A. Taniguchi, L. El Hafi, Y. Hagiwara, and T. Taniguchi, "Generative Adversarial Networksと場所概念形成の確率モデルの融合に基づくSemantic Mapping (Probabilistic Model of Spatial Concepts Integrating Generative Adversarial Networks for Semantic Mapping)", in Proceedings of 2020 Annual Conference of the Japanese Society for Artificial Intelligence (JSAI 2020), ref. 2M6-GS-13-01, pp. 1-4, Kumamoto, Japan (Virtual), Jun. 9, 2020. DOI: 10.11517/pjsai.JSAI2020.0_2M6GS1301 [Domestic conference article, non-peer-reviewed.][Published in Japanese.]

    < Abstract >

  59. G. A. Garcia Ricardez*, L. El Hafi*, and F. von Drigalski*, "Standing on Giant's Shoulders: Newcomer's Experience from the Amazon Robotics Challenge 2017", in Book chapter, Advances on Robotic Item Picking: Applications in Warehousing & E-Commerce Fulfillment, pp. 87-100, May 9, 2020. DOI: 10.1007/978-3-030-35679-8_8 [Book chapter.][*Authors contributed equally.]

    < Abstract >

  60. G. A. Garcia Ricardez, S. Okada, N. Koganti, A. Yasuda, P. M. Uriguen Eljuri, T. Sano, P.-C. Yang, L. El Hafi, M. Yamamoto, J. Takamatsu, and T. Ogasawara, "Restock and Straightening System for Retail Automation using Compliant and Mobile Manipulation", in Advanced Robotics (AR), Special Issue on Service Robot Technology: Selected Papers from WRS 2018, vol. 34, no. 3-4, pp. 235-249, Feb. 16, 2020. DOI: 10.1080/01691864.2019.1698460 [International journal article, peer-reviewed.]

    < Abstract >

  61. G. A. Garcia Ricardez, N. Koganti, P.-C. Yang, S. Okada, P. M. Uriguen Eljuri, A. Yasuda, L. El Hafi, M. Yamamoto, J. Takamatsu, and T. Ogasawara, "Adaptive Motion Generation using Imitation Learning and Highly-Compliant End Effector for Autonomous Cleaning", in Advanced Robotics (AR), Special Issue on Service Robot Technology: Selected Papers from WRS 2018, vol. 34, no. 3-4, pp. 189-201, Feb. 16, 2020. DOI: 10.1080/01691864.2019.1698461 [International journal article, peer-reviewed.]

    < Abstract >

  62. L. El Hafi, S. Isobe, Y. Tabuchi, Y. Katsumata, H. Nakamura, T. Fukui, T. Matsuo, G. A. Garcia Ricardez, M. Yamamoto, A. Taniguchi, Y. Hagiwara, and T. Taniguchi, "System for Augmented Human-Robot Interaction through Mixed Reality and Robot Training by Non-Experts in Customer Service Environments", in Advanced Robotics (AR), Special Issue on Service Robot Technology: Selected Papers from WRS 2018, vol. 34, no. 3-4, pp. 157-172, Feb. 16, 2020. DOI: 10.1080/01691864.2019.1694068 [International journal article, peer-reviewed.]

    < Abstract >

  63. Y. Katsumata, L. El Hafi, A. Taniguchi, Y. Hagiwara, and T. Taniguchi, "Integrating Simultaneous Localization and Mapping with Map Completion using Generative Adversarial Networks", in Proceedings of 2019 IEEE/RSJ IROS Workshop on Deep Probabilistic Generative Models for Cognitive Architecture in Robotics (DPGM-CAR 2019), Macau, China, Nov. 8, 2019. [International workshop article, peer-reviewed.]

    < Abstract >

  64. L. El Hafi, S. Matsuzaki, S. Itadera, and T. Yamamoto, "Deployment of a Containerized Software Development Environment for Human Support Robots", in Proceedings of 2019 Annual Conference of the Robotics Society of Japan (RSJ 2019), ref. RSJ2019AC3K1-03, pp. 1-2, Tokyo, Japan, Sep. 3, 2019. [Domestic conference article, non-peer-reviewed.]

    < Abstract >

  65. H. Nakamura, L. El Hafi, Y. Hagiwara, and T. Taniguchi, "複合現実によるロボットの空間認識可視化のためのSemantic-ICPを用いたキャリブレーション (Calibration System using Semantic-ICP for Visualization of Robot Spatial Perception through Mixed Reality)", in Proceedings of 2019 Annual Conference of the Japanese Society for Artificial Intelligence (JSAI 2019), ref. 1L3-J-11-02, pp. 1-4, Niigata, Japan, Jun. 4, 2019. DOI: 10.11517/pjsai.JSAI2019.0_1L3J1102 [Domestic conference article, non-peer-reviewed.][Published in Japanese.]

    < Abstract >

  66. L. El Hafi, Y. Hagiwara, and T. Taniguchi, "Abstraction-rich Workflow for Agile Collaborative Development and Deployment of Robotic Solutions", in Proceedings of 2018 Annual Conference of the Robotics Society of Japan (RSJ 2018), ref. RSJ2018AC3D3-02, pp. 1-3, Kasugai, Japan, Sep. 5, 2018. [Domestic conference article, non-peer-reviewed.]

    < Abstract >

  67. J. Takamatsu, L. El Hafi, K. Takemura, and T. Ogasawara, "角膜反射画像を用いた視線追跡と物体認識 (Gaze Estimation and Object Recognition using Corneal Images)", in Proceedings of 149th MOC/JSAP Microoptics Meeting on Recognition and Authentication, vol. 36, no. 3, pp. 13-18, Tokyo, Japan, Sep. 5, 2018. [Domestic workshop article, non-peer-reviewed.][Published in Japanese.]

    < Abstract >

  68. G. A. Garcia Ricardez, F. von Drigalski, L. El Hafi, S. Okada, P.-C. Yang, W. Yamazaki, V. G. Hoerig, A. Delmotte, A. Yuguchi, M. Gall, C. Shiogama, K. Toyoshima, P. M. Uriguen Eljuri, R. Elizalde Zapata, M. Ding, J. Takamatsu, and T. Ogasawara, "Warehouse Picking Automation System with Learning- and Feature-based Object Recognition and Grasping Point Estimation", in Proceedings of 2017 SICE System Integration Division Annual Conference (SI 2017), pp. 2249-2253, Sendai, Japan, Dec. 20, 2017. [Domestic conference article, non-peer-reviewed.]

    < Abstract >

  69. G. A. Garcia Ricardez, F. von Drigalski, L. El Hafi, M. Ding, J. Takamatsu, and T. Ogasawara, "Lessons from the Airbus Shopfloor Challenge 2016 and the Amazon Robotics Challenge 2017", in Proceedings of 2017 SICE System Integration Division Annual Conference (SI 2017), pp. 572-575, Sendai, Japan, Dec. 20, 2017. [Domestic conference article, non-peer-reviewed.]

    < Abstract >

  70. F. von Drigalski*, L. El Hafi*, P. M. Uriguen Eljuri*, G. A. Garcia Ricardez*, J. Takamatsu, and T. Ogasawara, "Vibration-Reducing End Effector for Automation of Drilling Tasks in Aircraft Manufacturing", in IEEE Robotics and Automation Letters (RA-L), vol. 2, no. 4, pp. 2316-2321, Oct, 2017. DOI: 10.1109/LRA.2017.2715398 [International journal article, peer-reviewed.][Presented at 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Vancouver, Canada, Sep. 2017.][*Authors contributed equally.]

    < Abstract >

  71. L. El Hafi, "STARE: Real-Time, Wearable, Simultaneous Gaze Tracking and Object Recognition from Eye Images (STARE: 眼球画像を用いた実時間処理可能な装着型デバイスによる視線追跡と物体認識)", in PhD Thesis at Nara Institute of Science and Technology (NAIST), ref. NAIST-IS-DD1461207, Ikoma, Japan, Sep. 25, 2017. DOI: 10.34413/dr.01472 [PhD thesis.][Supervised by T. Ogasawara, H. Kato, J. Takamatsu, M. Ding, and K. Takemura.]

    < Abstract >

  72. L. El Hafi, M. Ding, J. Takamatsu, and T. Ogasawara, "STARE: Realtime, Wearable, Simultaneous Gaze Tracking and Object Recognition from Eye Images", in SMPTE Motion Imaging Journal, vol. 126, no. 6, pp. 37-46, Aug. 9, 2017. DOI: 10.5594/JMI.2017.2711899 [International journal article, peer-reviewed.]

    < Abstract >

  73. G. A. Garcia Ricardez*, L. El Hafi*, F. von Drigalski*, R. Elizalde Zapata, C. Shiogama, K. Toyoshima, P. M. Uriguen Eljuri, M. Gall, A. Yuguchi, A. Delmotte, V. G. Hoerig, W. Yamazaki, S. Okada, Y. Kato, R. Futakuchi, K. Inoue, K. Asai, Y. Okazaki, M. Yamamoto, M. Ding, J. Takamatsu, and T. Ogasawara, "Climbing on Giant's Shoulders: Newcomer's Road into the Amazon Robotics Challenge 2017", in Proceedings of 2017 IEEE ICRA Warehouse Picking Automation Workshop (WPAW 2017), Singapore, Singapore, May 29, 2017. [International workshop article, non-peer-reviewed.][*Authors contributed equally.]

    < Abstract >

  74. L. El Hafi, M. Ding, J. Takamatsu, and T. Ogasawara, "眼球画像を用いた視線追跡と物体認識 日常生活のための装着型デバイス (Gaze Tracking and Object Recognition from Eye Images: Wearable Device for Daily Life)", in Proceedings of 2017 JSME Conference on Robotics and Mechatronics (ROBOMECH 2017), no. 17-2, ref. 2A1-I12, pp. 1-2, Fukushima, Japan, May 10, 2017. DOI: 10.1299/jsmermd.2017.2A1-I12 [Domestic conference article, non-peer-reviewed.][Published in Japanese.]

    < Abstract >

  75. L. El Hafi, M. Ding, J. Takamatsu, and T. Ogasawara, "Gaze Tracking and Object Recognition from Eye Images", in Proceedings of 2017 IEEE International Conference on Robotic Computing (IRC 2017), pp. 310-315, Taichung, Taiwan, Apr. 10, 2017. DOI: 10.1109/IRC.2017.44 [International conference article, peer-reviewed.]

    < Abstract >

  76. L. El Hafi, M. Ding, J. Takamatsu, and T. Ogasawara, "Gaze Tracking using Corneal Images Captured by a Single High-Sensitivity Camera", in The Best of IET and IBC 2016-2017, vol. 8, pp. 19-24, Sep. 8, 2016. [International journal article, peer-reviewed.][Also in Proceedings of 2016 International Broadcasting Convention (IBC 2016), pp. 33-43, Amsterdam, Netherlands, Sep. 2016.]

    < Abstract >

  77. L. El Hafi, M. Ding, J. Takamatsu, and T. Ogasawara, "Gaze Tracking using Corneal Images Captured by a Single High-Sensitivity Camera", in Proceedings of 2016 International Broadcasting Convention (IBC 2016), pp. 33-43, Amsterdam, Netherlands, Sep. 8, 2016. DOI: 10.1049/ibc.2016.0033 [International conference article, peer-reviewed.][Also in The Best of IET and IBC 2016-2017, vol. 8, pp. 19-24, Sep. 2016.]

    < Abstract >

  78. F. von Drigalski*, L. El Hafi*, P. M. Uriguen Eljuri*, G. A. Garcia Ricardez*, J. Takamatsu, and T. Ogasawara, "NAIST Drillbot: Drilling Robot at the Airbus Shopfloor Challenge", in Proceedings of 2016 Annual Conference of the Robotics Society of Japan (RSJ 2016), ref. RSJ2016AC3X2-03, pp. 1-2, Yamagata, Japan, Sep. 7, 2016. [Domestic conference article, non-peer-reviewed.][*Authors contributed equally.]

    < Abstract >

  79. L. El Hafi, P. M. Uriguen Eljuri, M. Ding, J. Takamatsu, and T. Ogasawara, "Wearable Device for Camera-based Eye Tracking: Model Approach using Cornea Images (カメラを用いた視線追跡のための装着型デバイス 角膜画像によるモデルアプローチ)", in Proceedings of 2016 JSME Conference on Robotics and Mechatronics (ROBOMECH 2016), no. 16-2, ref. 1A2-14a4, pp. 1-4, Yokohama, Japan, Jun. 8, 2016. DOI: 10.1299/jsmermd.2016.1A2-14a4 [Domestic conference article, non-peer-reviewed.]

    < Abstract >

  80. A. Yuguchi, R. Matsura, R. Baba, Y. Hakamata, W. Yamazaki, F. von Drigalski, L. El Hafi, S. Tsuichihara, M. Ding, J. Takamatsu, and T. Ogasawara, "モーションキャプチャによるボールキャッチ可能なロボット制御コンポーネント群の開発 (Development of Robot Control Components for Ball-Catching Task using Motion Capture Device)", in Proceedings of 2015 SICE System Integration Division Annual Conference (SI 2015), pp. 1067-1068, Nagoya, Japan, Dec. 14, 2015. [Domestic conference article, non-peer-reviewed.][Published in Japanese.]

    < Abstract >

  81. L. El Hafi, K. Takemura, J. Takamatsu, and T. Ogasawara, "Model-based Approach for Gaze Estimation from Corneal Imaging using a Single Camera", in Proceedings of 2015 IEEE/SICE International Symposium on System Integration (SII 2015), pp. 88-93, Nagoya, Japan, Dec. 11, 2015. DOI: 10.1109/SII.2015.7404959 [International conference article, peer-reviewed.]

    < Abstract >

  82. L. El Hafi, J.-B. Lorent, and G. Rouvroy, "Mapping SDI with a Light-Weight Compression for High Frame Rates and Ultra-HD 4K Transport over SMPTE 2022-5/6", in Proceedings of 2014 VSF Content in Motion, Annual Technical Conference and Exposition (VidTrans14), Arlington, United States, Feb. 26, 2014. [International workshop article, non-peer-reviewed.]

    < Abstract >

  83. L. El Hafi* and T. Denison*, "TICO : Étude d'un système de compression vidéo de faible complexité sur FPGA (TICO: Study of a Low-Complexity Video Compression Scheme for FPGA)", in Master's Thesis at Université catholique de Louvain (UCLouvain), Louvain-la-Neuve, Belgium, Jun. 2013. [Master's thesis.][*Authors contributed equally.][Supervised by J.-D. Legat, B. Macq, and G. Rouvroy.][Published in French.]

    < Abstract >

Award List

  1. A. Taniguchi, Y. Tabuchi, T. Ishikawa, L. El Hafi, Y. Hagiwara, and T. Taniguchi, "13th Advanced Robotics Best Paper Award", in 2025 Annual Conference of the Robotics Society of Japan (RSJ 2025), by Robotics Society of Japan (RSJ), Tokyo, Japan, Sep. 4, 2025. [International academic research recognition.]

  2. NaRiPa, "2nd Place (WRS Executive Committee Chairperson's Award for Excellence)", in 2025 WRS Future Convenience Store Challenge (FCSC 2025) @ Osaka-Kansai Expo 2025, by World Robot Summit (WRS), Osaka, Japan, Jul. 19, 2025. [International robotic competition recognition.]

  3. NaRiPa, "Stock Task Winner", in 2025 WRS Future Convenience Store Challenge (FCSC 2025) @ Osaka-Kansai Expo 2025, by World Robot Summit (WRS), Osaka, Japan, Jul. 19, 2025. [International robotic competition recognition.]

  4. NaRiPa, "SICE Award", in 2025 WRS Future Convenience Store Challenge (FCSC 2025) @ Osaka-Kansai Expo 2025, by Society of Instrument and Control Engineers (SICE), Osaka, Japan, Jul. 19, 2025. [International academic research recognition.]

  5. NaRiPa, "Stock & Disposal Task Daily Winner (July 18, 2025)", in 2025 WRS Future Convenience Store Challenge (FCSC 2025) @ Osaka-Kansai Expo 2025, by World Robot Summit (WRS), Osaka, Japan, Jul. 18, 2025. [International robotic competition recognition.]

  6. NaRiPa, "Stock Task Daily Winner (July 18, 2025)", in 2025 WRS Future Convenience Store Challenge (FCSC 2025) @ Osaka-Kansai Expo 2025, by World Robot Summit (WRS), Osaka, Japan, Jul. 18, 2025. [International robotic competition recognition.]

  7. NaRiPa, "Stock Task Daily Winner (July 16, 2025)", in 2025 WRS Future Convenience Store Challenge (FCSC 2025) @ Osaka-Kansai Expo 2025, by World Robot Summit (WRS), Osaka, Japan, Jul. 16, 2025. [International robotic competition recognition.]

  8. NaRiPa, "Stock Task Daily Winner (July 14, 2025)", in 2025 WRS Future Convenience Store Challenge (FCSC 2025) @ Osaka-Kansai Expo 2025, by World Robot Summit (WRS), Osaka, Japan, Jul. 14, 2025. [International robotic competition recognition.]

  9. T. Sakaguchi, A. Taniguchi, Y. Hagiwara, L. El Hafi, S. Hasegawa, and T. Taniguchi, "Best Paper Award", in 2024 IEEE International Conference on Robotic Computing (IRC 2024), by Institute of Electrical and Electronics Engineers (IEEE), Tokyo, Japan, Dec. 13, 2024. [International academic research recognition.]

  10. NaRiPa, "Stock & Disposal Task 3rd Place", in 2024 WRS Future Convenience Store Challenge (FCSC 2024), by World Robot Summit (WRS), Osaka, Japan, Nov. 15, 2024. [International robotic competition recognition.]

  11. Y. Hagiwara, S. Hasegawa, A. Oyama, A. Taniguchi, L. El Hafi, and T. Taniguchi, "第5回 優秀研究・技術賞", in 2024 Annual Conference of the Robotics Society of Japan (RSJ 2024), by Robotics Society of Japan (RSJ), Osaka, Japan, Sep. 5, 2024. [Domestic academic research recognition.]

  12. Y. Hagiwara, S. Hasegawa, A. Oyama, A. Taniguchi, L. El Hafi, and T. Taniguchi, "HSRコミュニティ 優秀論文賞", in 2023 Annual Conference of the Robotics Society of Japan (RSJ 2023), by Robotics Society of Japan (RSJ), Sendai, Japan, Sep. 12, 2023. [Domestic academic research recognition.]

  13. NaRiPa, "Stock & Disposal Task 2nd Place", in 2023 WRS Future Convenience Store Challenge (FCSC 2023), by World Robot Summit (WRS), Yokohama, Japan, Jul. 14, 2023. [International robotic competition recognition.]

  14. S. Hasegawa, A. Taniguchi, Y. Hagiwara, L. El Hafi, and T. Taniguchi, "ロボカップ 研究賞", in 2023 RoboCup Japan Open, by The RoboCup Japanese Regional Committee (RJC), Otsu, Japan, May 3, 2023. [Domestic academic research recognition.]

  15. S. Hasegawa, A. Taniguchi, Y. Hagiwara, L. El Hafi, and T. Taniguchi, "Best Paper Award", in 2023 IEEE/SICE International Symposium on System Integration (SII 2023), by Institute of Electrical and Electronics Engineers (IEEE) & Society of Instrument and Control Engineers (SICE), Atlanta, United States, Jan. 20, 2023. [International academic research recognition.]

  16. NAIST-RITS-Panasonic, "Stock & Disposal Winner", in 2022 WRS Future Convenience Store Challenge Trial Competition (FCSC 2022) , by World Robot Summit (WRS), Kyoto, Japan, Oct. 26, 2022. [International robotic competition recognition.]

  17. L. El Hafi, "HSRコミュニティ 研究奨励賞", in 2021 HSR Community General Meeting, by Robotics Society of Japan (RSJ), (Virtual), Mar. 24, 2022. [Domestic academic research recognition.]

  18. OIT-RITS (Y. Inoue, S. Tanaka, H. Shigemura, N. Yusei, S. Higa, Y. Hagiwara, L. El Hafi, T. Matsuo, M. Ito, S. Hasegawa, T. Ishikawa, T. Horie, and G. A. Garcia Ricardez), "@ホーム Domestic Standard Platform League Technical Challenge 準優勝 (ロボカップ日本委員会 表彰状)", in 2021 RoboCup Japan Open, by The RoboCup Japanese Regional Committee (RJC), Tokyo, Japan, Mar. 12, 2022. [Domestic robotic competition recognition.]

  19. OIT-RITS (Y. Inoue, S. Tanaka, H. Shigemura, N. Yusei, S. Higa, Y. Hagiwara, G. A. Garcia Ricardez, L. El Hafi, T. Matsuo, S. Hasegawa, M. Ito, T. Ishikawa, and T. Horie), "@ホーム Domestic Standard Platform League Technical Challenge 準優勝 (@ホームリーグ実行委員会 賞状)", in 2021 RoboCup Japan Open, by The RoboCup Japanese Regional Committee (RJC), Tokyo, Japan, Mar. 12, 2022. [Domestic robotic competition recognition.]

  20. OIT-RITS (Y. Inoue, S. Tanaka, H. Shigemura, N. Yusei, S. Higa, Y. Hagiwara, G. A. Garcia Ricardez, L. El Hafi, T. Matsuo, S. Hasegawa, M. Ito, T. Ishikawa, and T. Horie), "@ホーム Domestic Standard Platform League 敢闘賞", in 2021 RoboCup Japan Open, by The RoboCup Japanese Regional Committee (RJC), Tokyo, Japan, Mar. 12, 2022. [Domestic robotic competition recognition.]

  21. NAIST-RITS-Panasonic, "1st Place (METI Minister's Award for Excellence in WRS)", in 2020 WRS Future Convenience Store Challenge (FCSC 2020), by Ministry of Economy, Trade and Industry (METI), Tokoname, Japan, Sep. 12, 2021. [International robotic competition recognition.]

  22. NAIST-RITS-Panasonic, "Stock & Disposal Task 1st Place (NEDO Chairman's Award for Excellence in WRS)", in 2020 WRS Future Convenience Store Challenge (FCSC 2020), by New Energy and Industrial Technology Development Organization (NEDO), Tokoname, Japan, Sep. 12, 2021. [International robotic competition recognition.]

  23. NAIST-RITS-Panasonic, "Restroom Cleaning Task 1st Place (NEDO Chairman's Award for Excellence in WRS)", in 2020 WRS Future Convenience Store Challenge (FCSC 2020), by New Energy and Industrial Technology Development Organization (NEDO), Tokoname, Japan, Sep. 12, 2021. [International robotic competition recognition.]

  24. NaRiPa VisionAIrs (G. A. Garcia Ricardez, T. Wakayama, L. El Hafi, and J. Takamatsu), "Eastern Asia + South Eastern Asia Regional Prize Winner 2nd Place", in 2021 OpenCV AI Competition, by Open Source Computer Vision Library (OpenCV), (Virtual), Sep. 7, 2021. [International robotic competition recognition.]

  25. NaRiPa VisionAIrs (G. A. Garcia Ricardez, T. Wakayama, L. El Hafi, and J. Takamatsu), "Phase 1 Finalist", in 2021 OpenCV AI Competition, by Open Source Computer Vision Library (OpenCV), (Virtual), Mar. 4, 2021. [International robotic competition recognition.]

    < Citation >

    "OpenCV AI Competition 2021 certificate of achievement proudly presented to Lotfi El Hafi for their selection as a Phase 1 Finalist."

  26. NAIST-RITS-Panasonic, "Stock & Disposal Task Winner", in 2019 WRS Future Convenience Store Challenge Trial Competition (FCSC 2019), by World Robot Summit (WRS), Tokyo, Japan, Dec. 21, 2019. [International robotic competition recognition.]

  27. NAIST-RITS-Panasonic, "Restroom Cleaning Task 2nd Place", in 2019 WRS Future Convenience Store Challenge Trial Competition (FCSC 2019), by World Robot Summit (WRS), Tokyo, Japan, Dec. 21, 2019. [International robotic competition recognition.]

  28. Ambient Assisted Living Services Group, "Best Award for Forecasting Research Proposal", in 2019 CREST Research Area Meeting, by Japan Science and Technology Agency (JST), Osaka, Japan, Oct. 3, 2019. [Domestic academic research recognition.]

  29. L. El Hafi, "Best Award for Research Proposal Breaking Hagita-CREST Shell", in 2019 CREST Research Area Meeting, by Japan Science and Technology Agency (JST), Osaka, Japan, Oct. 3, 2019. [Domestic academic research recognition.]

  30. NAIST-RITS-Panasonic, "Customer Interaction Task 1st Place (NEDO Chairman's Award for Excellence in WRS)", in 2018 WRS Future Convenience Store Challenge (FCSC 2018), by New Energy and Industrial Technology Development Organization (NEDO), Tokyo, Japan, Oct. 21, 2018. [International robotic competition recognition.]

  31. NAIST-RITS-Panasonic, "SICE Award", in 2018 WRS Future Convenience Store Challenge (FCSC 2018), by Society of Instrument and Control Engineers (SICE), Tokyo, Japan, Oct. 21, 2018. [International academic research recognition.]

  32. OIT Challenger and Duckers (Y. Inoue, T. Nakayama, F. Kawai, T. Imanishi, Y. Nakanishi, Y. Hagiwara, L. El Hafi, Y. Katsumata, and Y. Tabuchi), "@ホーム Domestic Standard Platform League 3位 (ロボカップ日本委員会 表彰状)", in 2018 RoboCup Japan Open, by The RoboCup Japanese Regional Committee (RJC), Ogaki, Japan, May 5, 2018. [Domestic robotic competition recognition.]

  33. OIT Challenger and Duckers (Y. Inoue, T. Nakayama, F. Kawai, T. Imanishi, Y. Nakanishi, Y. Hagiwara, L. El Hafi, Y. Katsumata, and Y. Tabuchi), "@ホーム Domestic Standard Platform League 3位 (@ホームリーグ実行委員会 賞状)", in 2018 RoboCup Japan Open, by The RoboCup Japanese Regional Committee (RJC), Ogaki, Japan, May 5, 2018. [Domestic robotic competition recognition.]

  34. NAIST-Panasonic (G. A. Garcia Ricardez, L. El Hafi, F. von Drigalski, W. Yamazaki, V. G. Hoerig, A. Delmotte, A. Yuguchi, M. Gall, C. Shiogama, K. Toyoshima, P. M. Uriguen Eljuri, R. Elizalde Zapata, M. Yamamoto, Y. Okazaki, K. Inoue, K. Asai, R. Futakuchi, S. Okada, Y. Kato, and P.-C. Yang), "Finalist", in 2017 Amazon Robotics Challenge, by Amazon, Nagoya, Japan, Jul. 30, 2017. [International robotic competition recognition.]

  35. L. El Hafi, M. Ding, J. Takamatsu, and T. Ogasawara, "The Best of IET and IBC 2016-2017", in 2016 IBC Conference @ 2016 International Broadcasting Convention (IBC 2016), by Institution of Engineering and Technology (IET) & International Broadcasting Convention (IBC), Amsterdam, Netherlands, Sep. 8, 2016. [International academic research recognition.]

  36. NAIST (F. von Drigalski, G. A. Garcia Ricardez, L. El Hafi, and P. M. Uriguen Eljuri), "1st Place", in 2016 Airbus Shopfloor Challenge @ 2016 IEEE International Conference on Robotics and Automation (ICRA 2016), by Airbus, Stockholm, Sweden, May 19, 2016. [International robotic competition recognition.]

    < Citation >

    "We are pleased to present this award to Team NAIST, Team Member Lotfi El Hafi, in recognition of your important contribution as a member of the 1st place team at the Airbus Shopfloor Challenge 2016."

  37. L. El Hafi, "Ambassador for JAPAN TENT", in 27th JAPAN TENT, by ジャパンテント・ネットワーク, Kanazawa, Japan, Aug. 26, 2014. [Domestic civic engagement recognition.]