By Dr Francisco Cruz Naranjo

Book Chapters

Afrisal H; Abpeikar S; Cruz F, 2026, 'Depth-Aware Audio Visual Segmentation with Geometry-Heuristic Cross Attention', in , pp. 187 - 199, http://dx.doi.org/10.1007/978-981-95-4972-6_15

Chen Y; Schomaker L; Cruz F, 2025, 'Boosting Reinforcement Learning Algorithms in Continuous Robotic Reaching Tasks Using Adaptive Potential Functions', in , pp. 52 - 64, http://dx.doi.org/10.1007/978-981-96-0351-0_5

Cruz F; Dazeley R; Vamplew P, 2019, 'Memory-Based Explainable Reinforcement Learning', in , pp. 66 - 77, http://dx.doi.org/10.1007/978-3-030-35288-2_6

Journal articles

Kappan MM; Sandoval EB; Meijering E; Cruz F, 2026, 'A survey on deep learning for 2D and 3D human pose estimation', Artificial Intelligence Review, 59, http://dx.doi.org/10.1007/s10462-025-11430-4

Harland H; Dazeley R; Senaratne H; Vamplew P; Cruz F; Nakisa B, 2025, 'AI apology: a critical review of apology in AI systems', Artificial Intelligence Review, 58, http://dx.doi.org/10.1007/s10462-025-11305-8

Hashemi M; Darejeh A; Cruz F, 2025, 'Understanding User Preferences in Explainable Artificial Intelligence: A Mapping Function Proposal', ACM Transactions on Intelligent Systems and Technology, 16, http://dx.doi.org/10.1145/3733837

Bamdad M; Karimi A; Sina S; Cruz F, 2025, 'Modeling and Dynamic Analysis of Fish Robot with Soft Fluidic Actuation', Journal of Intelligent and Robotic Systems Theory and Applications, 111, http://dx.doi.org/10.1007/s10846-024-02196-y

Ayala A; Portela L; Buarque F; Fernandes BJT; Cruz F, 2024, 'UAV control in autonomous object-goal navigation: a systematic literature review', Artificial Intelligence Review, 57, http://dx.doi.org/10.1007/s10462-024-10758-7

Ly A; Dazeley R; Vamplew P; Cruz F; Aryal S, 2024, 'Elastic step DQN: A novel multi-step algorithm to alleviate overestimation in Deep Q-Networks', Neurocomputing, 576, http://dx.doi.org/10.1016/j.neucom.2023.127170

Marmolejo-Ramos F; Tejada J; Ciria A; Cruz F; Cardona JF, 2024, 'Advancing mechanistic explanations through natural and artificial embodied cognitive systems', Cognitive Neuroscience, 15, pp. 111 - 113, http://dx.doi.org/10.1080/17588928.2024.2403348

Bignold A; Cruz F; Dazeley R; Vamplew P; Foale C, 2023, 'Persistent rule-based interactive reinforcement learning', Neural Computing and Applications, 35, pp. 23411 - 23428, http://dx.doi.org/10.1007/s00521-021-06466-w

Cruz F; Dazeley R; Vamplew P; Moreira I, 2023, 'Explainable robotic systems: understanding goal-driven actions in a reinforcement learning scenario', Neural Computing and Applications, 35, pp. 18113 - 18130, http://dx.doi.org/10.1007/s00521-021-06425-5

Bignold A; Cruz F; Dazeley R; Vamplew P; Foale C, 2023, 'Human engagement providing evaluative and informative advice for interactive reinforcement learning', Neural Computing and Applications, 35, pp. 18215 - 18230, http://dx.doi.org/10.1007/s00521-021-06850-6

Harland H; Dazeley R; Nakisa B; Cruz F; Vamplew P, 2023, 'AI apology: interactive multi-objective reinforcement learning for human-aligned AI', Neural Computing and Applications, 35, pp. 16917 - 16930, http://dx.doi.org/10.1007/s00521-023-08586-x

Dazeley R; Vamplew P; Cruz F, 2023, 'Explainable reinforcement learning for broad-XAI: a conceptual framework and survey', Neural Computing and Applications, 35, pp. 16893 - 16916, http://dx.doi.org/10.1007/s00521-023-08423-1

Cruz F; Karimpanal TG; Solis MA; Barros P; Dazeley R, 2023, 'Human-aligned reinforcement learning for autonomous agents and robots', Neural Computing and Applications, 35, pp. 16689 - 16691, http://dx.doi.org/10.1007/s00521-023-08748-x

Millán-Arias C; Fernandes B; Cruz F, 2023, 'Proxemic behavior in navigation tasks using reinforcement learning', Neural Computing and Applications, 35, pp. 16723 - 16738, http://dx.doi.org/10.1007/s00521-022-07628-0

de Andrade JVR; Fernandes BJT; Izídio ARLC; da Silva Filho NM; Cruz F, 2023, 'Vessel Velocity Estimation and Docking Analysis: A Computer Vision Approach', Algorithms, 16, http://dx.doi.org/10.3390/a16070326

Bignold A; Cruz F; Taylor ME; Brys T; Dazeley R; Vamplew P; Foale C, 2023, 'A conceptual framework for externally-influenced agents: an assisted reinforcement learning review', Journal of Ambient Intelligence and Humanized Computing, 14, pp. 3621 - 3644, http://dx.doi.org/10.1007/s12652-021-03489-y

Nguyen HS; Cruz F; Dazeley R, 2023, 'Towards a Broad-Persistent Advising Approach for Deep Interactive Reinforcement Learning in Robotic Environments', Sensors, 23, http://dx.doi.org/10.3390/s23052681

Cruz F; Solis MA; Navarro-Guerrero N, 2023, 'Editorial: Cognitive inspired aspects of robot learning', Frontiers in Neurorobotics, 17, http://dx.doi.org/10.3389/fnbot.2023.1256788

Azevedo GODA; Fernandes BJT; Silva LHDS; Freire A; de Araújo RP; Cruz F, 2022, 'Event-Based Angular Speed Measurement and Movement Monitoring', Sensors, 22, http://dx.doi.org/10.3390/s22207963

Portugal E; Cruz F; Ayala A; Fernandes B, 2022, 'Analysis of Explainable Goal-Driven Reinforcement Learning in a Continuous Simulated Environment', Algorithms, 15, http://dx.doi.org/10.3390/a15030091

Ayala A; Fernandes BJT; Cruz F; Macedo D; Zanchettin C, 2022, 'Convolution Optimization in Fire Classification', IEEE Access, 10, pp. 23642 - 23658, http://dx.doi.org/10.1109/ACCESS.2022.3151660

Ayala A; Ortiz Figueroa T; Fernandes B; Cruz F, 2021, 'Diabetic retinopathy improved detection using deep learning', Applied Sciences Switzerland, 11, http://dx.doi.org/10.3390/app112411970

Dazeley R; Vamplew P; Foale C; Young C; Aryal S; Cruz F, 2021, 'Levels of explainable artificial intelligence for human-aligned conversational explanations', Artificial Intelligence, 299, http://dx.doi.org/10.1016/j.artint.2021.103525

Millan-Arias CC; Fernandes BJT; Cruz F; Dazeley R; Fernandes S, 2021, 'A Robust Approach for Continuous Interactive Actor-Critic Algorithms', IEEE Access, 9, pp. 104242 - 104260, http://dx.doi.org/10.1109/ACCESS.2021.3099071

Bignold A; Cruz F; Dazeley R; Vamplew P; Foale C, 2021, 'An evaluation methodology for interactive reinforcement learning with simulated users', Biomimetics, 6, pp. 1 - 15, http://dx.doi.org/10.3390/biomimetics6010013

Angulo JC; Schonburg S; Giammo A; Queissert F; Gonsior A; Gonzalez-Enguita C; Martins FE; Rourke K; Cruz F, 2021, 'Artificial urinary sphincter or a second adjustable transobturator male system offer equivalent outcomes in patients whom required revision on the initial ATOMS device: An international multi-institutional experience', NEUROUROLOGY AND URODYNAMICS, 40, pp. 897 - 909, http://dx.doi.org/10.1002/nau.24646

Manso M; Pacheco-Figueiredo L; Antunes-Lopes T; Pina-Vaz T; Oliveira G; Cruz F; Dinis-Oliveira P; Silva J, 2021, 'Kidney transplantation from donation after circulatory death using abdominal normothermic oxygenated circulation: are the outcomes equivalent?', INTERNATIONAL UROLOGY AND NEPHROLOGY, 53, pp. 1355 - 1359, http://dx.doi.org/10.1007/s11255-021-02832-8

Manso M; Botelho F; Silva C; Cruz F, 2021, 'Mini-Slings: Do They Stand the Test of Time? A 10-Year Cohort', UROLOGIA INTERNATIONALIS, 105, pp. 143 - 147, http://dx.doi.org/10.1159/000511648

Nunez-Badinez P; De Leo B; Laux-Biehlmann A; Hoffmann A; Zollner TM; Saunders PTK; Simitsidellis I; Charrua A; Cruz F; Gomez R; Tejada MA; McMahon SB; Lo Re L; Barthas F; Vincent K; Birch J; Meijlink J; Hummelshoj L; Sweeney PJ; Armstrong JD; Treede R-D; Nagel J, 2021, 'Preclinical models of endometriosis and interstitial cystitis/bladder pain syndrome: an Innovative Medicines Initiative-PainCare initiative to improve their value for translational research in pelvic pain', PAIN, 162, pp. 2349 - 2365, http://dx.doi.org/10.1097/j.pain.0000000000002248

Cruz F, 2021, 'Re: European Association of Urology Guidelines Office Rapid Reaction Group: An Organisation-wide Collaborative Effort to Adapt the European Association of Urology Guidelines Recommendations to the Coronavirus Disease 2019 Era', EUROPEAN UROLOGY, 79, pp. 427 - 427, http://dx.doi.org/10.1016/j.eururo.2020.11.030

Lopez-Fando L; Bueno P; Carracedo D; Averbeck M; Castro-Diaz DM; Chartier-Kastler E; Cruz F; Dmochowski R; Finazzi-Agro E; Hajebrahimi S; Heesakkers J; Kasyan G; Tarcan T; Peyronnet B; Plata M; Padilla-Fernandez B; Van Der Aa F; Arlandis S; Hashim H, 2020, 'Management of Female and Functional Urology Patients During the COVID Pandemic', EUROPEAN UROLOGY FOCUS, 6, pp. 1049 - 1057, http://dx.doi.org/10.1016/j.euf.2020.05.023

Contreras R; Ayala A; Cruz F, 2020, 'Unmanned aerial vehicle control through domain-based automatic speech recognition', Computers, 9, pp. 1 - 15, http://dx.doi.org/10.3390/computers9030075

Moreira I; Rivas J; Cruz F; Dazeley R; Ayala A; Fernandes B, 2020, 'Deep reinforcement learning with interactive feedback in a human-robot environment', Applied Sciences Switzerland, 10, http://dx.doi.org/10.3390/app10165574

Charrua A; Matos R; Oliveira R; Marczylo T; Nagy I; Cruz F, 2020, 'Fatty acid amide hydrolase inhibition normalises bladder function and reduces pain through normalising the anandamide/palmitoylethanolamine ratio in the inflamed bladder of rats', NAUNYN-SCHMIEDEBERGS ARCHIVES OF PHARMACOLOGY, 393, pp. 263 - 272, http://dx.doi.org/10.1007/s00210-019-01729-9

Angulo JC; Virseda-Chamorro M; Arance I; Ruiz S; Ojea A; Carballo M; Rodriguez A; Pereira J; Teyrouz A; Rebassa M; Escribano G; Teba F; Celada G; Madurga B; Martins FE; Mendes PA; Cruz F, 2020, 'Long-term outcome of adjustable transobturator male system for stress urinary incontinence in the Iberian multicentre study', NEUROUROLOGY AND URODYNAMICS, 39, pp. 1737 - 1745, http://dx.doi.org/10.1002/nau.24410

Abreu-Mendes P; Silva J; Cruz F, 2020, 'Pharmacology of the lower urinary tract: update on LUTS treatment', THERAPEUTIC ADVANCES IN UROLOGY, 12, http://dx.doi.org/10.1177/1756287220922425

Martin-Martinez A; Mueller-Arteaga C; Blasco-Hernandez P; Padilla-Fernandez B; Martinez-Garcia R; Errando-Smet C; Vicente-Palacio E; Cruz F; Castro-Diaz D; Lopez-Fando L; Ros-Cerro C; Arlandis-Guzman S; Espuna-Pons M, 2020, 'Position of Ibero-American Society of Neurourology and UroGynecology (SINUG) on the use of vaginal meshes in pelvic organ prolapse', NEUROUROLOGY AND URODYNAMICS, 39, pp. 1020 - 1025, http://dx.doi.org/10.1002/nau.24309

Mueller-Arteaga C; Martin Martinez A; Padilla-Fernandez B; Blasco Hernandez P; Espuna Pons M; Cruz F; Errando-Smet C; Martinez-Garcia R; Vicente Palacio E; Castro Diaz D; Lopez-Fando L; Madurga Patuel B; Ros Cerro C; Arlandis Guzman S, 2020, 'Position of the Ibero-American Society of Neurourology and Urogynecology in relation to the use of synthetic suburethral meshes for the surgical treatment of female stress incontinence', NEUROUROLOGY AND URODYNAMICS, 39, pp. 464 - 469, http://dx.doi.org/10.1002/nau.24178

Chapple CR; Cruz F; Cardozo L; Staskin D; Herschorn S; Choudhury N; Stoelzel M; Heesakkers J; Siddiqui E, 2020, 'Safety and Efficacy of Mirabegron: Analysis of a Large Integrated Clinical Trial Database of Patients with Overactive Bladder Receiving Mirabegron, Antimuscarinics, or Placebo', EUROPEAN UROLOGY, 77, pp. 119 - 128, http://dx.doi.org/10.1016/j.eururo.2019.09.024

Abreu-Mendes P; Cruz F; Martins-Silva C, 2020, 'Treatment of neurogenic lower urinary tract symptoms: main contributions from 2018 and 2019', CURRENT OPINION IN UROLOGY, 30, pp. 486 - 490, http://dx.doi.org/10.1097/MOU.0000000000000774

Dias B; Serrao P; Cruz F; Charrua A, 2019, 'Effect of Water Avoidance Stress on serum and urinary NGF levels in rats: diagnostic and therapeutic implications for BPS/IC patients', SCIENTIFIC REPORTS, 9, http://dx.doi.org/10.1038/s41598-019-50576-4

Oliveira R; Coelho A; Franquinho F; Sousa MM; Cruz F; Cruz CD, 2019, 'Effects of early intravesical administration of resiniferatoxin to spinal cord-injured rats in neurogenic detrusor overactivity', NEUROUROLOGY AND URODYNAMICS, 38, pp. 1540 - 1550, http://dx.doi.org/10.1002/nau.24032

Vale L; Jesus F; Marcelissen T; Rieken M; Geavlete B; Rahnama'i MS; Martens F; Cruz F; Antunes-Lopes T, 2019, 'Pathophysiological mechanisms in detrusor underactivity: Novel experimental findings', LUTS-LOWER URINARY TRACT SYMPTOMS, 11, pp. 92 - 98, http://dx.doi.org/10.1111/luts.12257

Angulo JC; Arance I; Ojea A; Carballo M; Rodriguez A; Pereira J; Rebassa M; Teyrouz A; Escribano G; Teba F; Madurga B; Martins FE; Cruz F, 2019, 'Patient satisfaction with adjustable transobturator male system in the Iberian multicenter study', WORLD JOURNAL OF UROLOGY, 37, pp. 2189 - 2197, http://dx.doi.org/10.1007/s00345-019-02639-4

Antunes-Lopes T; Vasconcelos A; Costa D; Charrua A; Neves J; Silva J; Cruz F; Silva C, 2019, 'The Impact of Chronic Pelvic lschemia on LUTS and Urinary Levels of Neuroinflammatory, Inflammatory, and Oxidative Stress Markers in Elderly Men: A Case-control Study', UROLOGY, 123, pp. 230 - 234, http://dx.doi.org/10.1016/j.urology.2018.09.004

Coelho A; Charrua A; Oliveira R; Cavaleiro H; Cruz CD; Cruz F, 2019, 'Underactive bladder in aging rats is associated with a reduced number of serotonin-expressing cells in the urethra and is improved by serotonin application to the urethra', LUTS-LOWER URINARY TRACT SYMPTOMS, 11, pp. 248 - 254, http://dx.doi.org/10.1111/luts.12273

Antunes-Lopes T; Cruz F, 2019, 'Urinary Biomarkers in Overactive Bladder: Revisiting the Evidence in 2019', EUROPEAN UROLOGY FOCUS, 5, pp. 329 - 336, http://dx.doi.org/10.1016/j.euf.2019.06.006

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