About Me

I am a Ph.D. student advised by Prof. Tadahiro Taniguchi and Prof. Nobutaka Shimada at Ritsumeikan University in Japan.

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Interests
  • Intelligent Robotics
  • Service Robots
  • Multimodal Language Understanding
  • Symbol Emergence in Robotics
  • Foundation Models
Education

  • Ph.D. student in Information Science and Engineering

    Ritsumeikan University, Apr. 2022 - Present

  • M.E. in Information Science and Engineering (GPA: 4.14/5.0)

    Ritsumeikan University, Apr. 2020 - Mar. 2022

  • B.E. in Science and Engineering (GPA: 4.25/5.0)

    Ritsumeikan University, Apr. 2016 - Mar. 2020

📚 My Research

Hi! I’m Shoichi Hasegawa.
I’m interested in multimodal language understanding for domestic service robots. Currently, I’m conducting research on robots that support human life in the home, based on the framework of symbol emergence in robotics, by leveraging spatial semantic understanding technologies and large language models. I’m a doctoral student at Ritsumeikan University and am involved in the ISHIGURO Project (Moonshot Goal 1)，R-GIRO (Symbol Emergence Systems Science)，HSRT-X (Matsuo Lab). My goal is to realize a domestic service robot that interacts with humans like a member of the family—much like “Doraemon.”

Keywords:
Domestic Service Robot, Multimodal Language Understanding,
Probabilistic Generative Models, Foundation Models,
Symbol Emergence in Robotics

長谷川翔一と申します．
私は家庭用サービスロボットにおけるマルチモーダル言語理解に関心を持っています． 現在は記号創発ロボティクスの枠組みに基づき、空間の意味理解技術と大規模言語モデルの知識を活用しながら、家庭内で人間の生活を支援するロボットの研究に取り組んでいます． 立命館大学の博士課程に在籍し、石黒浩ムーンショット，R-GIRO (記号創発システム科学創成)，HSRT-X (東京大学松尾研主導)に参画しています． 最終的には、「家族の一員のように人と関わる家庭用サービスロボット（ドラえもん）」の実現を目指しています．

キーワード:
家庭用サービスロボット，マルチモーダル言語理解，確率的生成モデル，
基盤モデル，記号創発ロボティクス

⭐ Featured Publications
An example preprint / working paper
An example conference paper
🚀 Recent News
📜 Representative Papers

Full Publications (Google Scholor and Researchmap) is here.

Integration of Probabilistic Logic and Probabilistic Generative Models

  1. S. Hasegawa, A. Taniguchi, Y. Hagiwara, L. El Hafi, T. Taniguchi, "Integrating Probabilistic Logic and Multimodal Spatial Concepts for Efficient Robotic Object Search in Home Environments," SICE Journal of Control, Measurement, and System Integration (SICE JCMSI), Vol. 16, No. 1, pp. 400-422, 2023, paper.

Large Language Models-based Robot Action Planning

  1. 萩原 良信, 長谷川 翔一, 大山 瑛, 谷口 彰, エル ハフィ ロトフィ, 谷口 忠大, "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," 第41回日本ロボット学会学術講演会 (RSJ), 大阪, 2023年9月. (🏆HSRコミュニティ優秀論文賞, 🏆第5回 優秀研究・技術賞)

Large Language Models-based Multi-Robot Collaboration

  1. 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, 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," IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO), Japan, Jul. 2025, in press, arxiv, project page.
  2. S. Hasegawa**, K. Murata**, T. Ishikawa, Y. Hagiwara, A. Taniguchi, L. El Hafi, G. Garcia, 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," Journal of RSJ Letter, 2024, in press.

Robotics Foundation Models

  1. 松嶋 達也, 高波 亮介, 神原 元就, 野口 裕貴, 有馬 純平, 池田 悠也, 柳田 栞吾, 岩田 健輔, 長谷川 翔一, エル ハフィ ロトフィ, 山尾 晃世, 磯本 航世, 山口 直紀, 小林 遼平, 柴 智也, 矢野 優雅, 水谷 彰伸, 田向 権, 堀井 隆斗, 杉浦 孔明, 谷口 忠大, 松尾 豊, 岩澤 有祐, "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," 第42回日本ロボット学会学術講演会 (RSJ), 大阪, 2024年9月.

Exophora Resolution

  1. A. Oyama, S. Hasegawa*, A. Taniguchi, Y. Hagiwara, T. Taniguchi, "Take That for Me: Multimodal Exophora Resolution with Interactive Questioning for Ambiguous Out-of-View Instructions," IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Netherlands, Aug. 2025, accepted, project page.
  2. A. Oyama, S. Hasegawa, Y. Hagiwara, A. Taniguchi, T. Taniguchi, "ECRAP: Exophora Resolution and Classifying User Commands for Robot Action Planning by Large Language Models," IEEE International Conference on Robotic Computing (IRC), pp. 1-8, Japan, Dec. 2024, paper, project page.
  3. A. Oyama, S. Hasegawa, H. Nakagawa, A. Taniguchi, Y. Hagiwara, T. Taniguchi, "Exophora Resolution of Linguistic Instructions with a Demonstrative based on Real-World Multimodal Information," IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), pp. 2617-2623, Korea, Aug. 2023, paper. (🏆ロボカップ研究賞)

Gesture Recognition

  1. H. Nakagawa, S. Hasegawa*, Y. Hagiwara, A. Taniguchi, T. Taniguchi, "Pointing Frame Estimation with Audio-Visual Time Series Data for Daily Life Service Robots," IEEE International Conference on Systems, Man, and Cybernetics (SMC), pp. 2949-2956, Malaysia, Oct. 2024, paper, project page, slide. (🏆Best Paper Award)

Instance Specific Image-Goal Navigation with Self-Supervised Learning

  1. T. Sakaguchi, A. Taniguchi*, Y. Hagiwara, L. El Hafi, S. Hasegawa, T. Taniguchi, "Real-World Instance-Specific Image Goal Navigation: Bridging Domain Gaps via Contrastive Learning," IEEE International Conference on Robotic Computing (IRC), pp. 139-146, Japan, Dec. 2024, paper, project page, code. (🏆Best Paper Award)
  2. T. Sakaguchi, A. Taniguchi*, Y. Hagiwara, L. El Hafi, S. Hasegawa, T. Taniguchi, "Object Instance Retrieval in Assistive Robotics: Leveraging Fine-Tuned SimSiam with Multi-View Images Based on 3D Semantic Map," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dabi, Oct. 2024, paper, project page, code.

Foundation Models for Human-Robot Interaction

  1. E. Martin, S. Hasegawa, J. Solis, B. Macq, R. Ronsse, G A. Garcia Ricardez, L. El Hafi*, T. Taniguchi, "Integrating Multimodal Communication and Comprehension Evaluation during Human-Robot Collaboration for Increased Reliability of Foundation Model-based Task Planning Systems," IEEE/SICE International Symposium on System Integration (SII), pp. 1053-1059, Germany, Jan. 2025, paper, project page.
  2. B. Bastin, S. Hasegawa, J. Solis, R. Ronsse, B. Macq, L. El Hafi, G A. Garcia Ricardez*, T. Taniguchi, "GPTAlly: A Safety-Oriented System for Human-Robot Collaboration based on Foundation Models," IEEE/SICE International Symposium on System Integration (SII), pp.878-884, Germany, Jan. 2025, paper, project page.

See All Slides >

Experience

🏢 Employments

🏆 Representative Awards
  1. Best Paper Award (IRC 2024), 💰500 USD, Dec. 2024.
  3. Best Paper Award (SMC 2024), 💰500 USD, Oct. 2024.
  9. Best Paper Award (SII 2023), 💰1000 USD, Jan. 2023.
🎓 Fellowships & Scholarships

Fellowships

Scholarships

💻 Skills & Certifications
Technical Skills
Programming

Python, C and MATLAB

Software

ROS1/2, Git/GitHub/GitLab, Docker, Gazebo and RViz

OS

Linux (Ubuntu) and Windows

Machining Technology

Lathe, Milling Machine, CNC Milling Machine, Drilling Machine, 3D Printing, Laser Cutter, CAD and CAM

Certifications
Driver’s License in Japan
💬 Languages
%
Japanese
%
English