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

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

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

Cruz F; Magg S; Nagai Y; Wermter S, 2018, 'Improving interactive reinforcement learning: What makes a good teacher?', Connection Science, 30, pp. 306 - 325, http://dx.doi.org/10.1080/09540091.2018.1443318

Cruz F; Magg S; Weber C; Wermter S, 2016, 'Training Agents With Interactive Reinforcement Learning and Contextual Affordances', IEEE Transactions on Cognitive and Developmental Systems, 8, pp. 271 - 284, http://dx.doi.org/10.1109/TCDS.2016.2543839

Cruz F; Baraglia J; Nagai Y; Wermter S, 2016, 'Special issue on bio-inspired social robot learning in home scenarios', IEEE Transactions on Cognitive and Developmental Systems, 8, pp. 1 - 2, http://dx.doi.org/10.1109/TCDS.2016.2603000

Conference Papers

Shaik KA; Xie S; Cruz F; Sandoval EB, 2025, 'A Fuzzy Supervisory Framework for Real-Time Optimization of Robot Output and LLM Performance in HRI', in ACM IEEE International Conference on Human Robot Interaction, pp. 1617 - 1620, http://dx.doi.org/10.1109/HRI61500.2025.10974222

Xie S; Sandoval EB; Shaik KA; Cruz F, 2025, 'Embodied Generative AI Art for Enhanced Human-Robot Interaction Through a Human-Centric LLM-Guided Robotic Arm Drawing System', in ACM IEEE International Conference on Human Robot Interaction, pp. 1727 - 1730, http://dx.doi.org/10.1109/HRI61500.2025.10974105

Shaik KA; Sandoval EB; Xie S; Cruz F, 2025, 'HRIxD: End-Effector Specialised in Drumming for Performing Robots', in ACM IEEE International Conference on Human Robot Interaction, pp. 1613 - 1616, http://dx.doi.org/10.1109/HRI61500.2025.10973986

Lee C; Sandoval EB; Cruz F, 2025, 'Human Decision-Making Concepts with Goal-Oriented Reasoning for Explainable Deep Reinforcement Learning', in Lecture Notes in Computer Science Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics, pp. 228 - 240, http://dx.doi.org/10.1007/978-981-96-0348-0_17

Althobaiti A; Ayala A; Gao J; Almutairi A; Deghat M; Razzak I; Cruz F, 2024, 'How Can LLMs and Knowledge Graphs Contribute to Robot Safety? A Few-Shot Learning Approach', in Australasian Conference on Robotics and Automation ACRA, Auckland, New Zealand, presented at Australasian Conference on Robotics and Automation (ACRA 2024), Auckland, New Zealand, 27 November 2024 - 29 November 2024, https://ssl.linklings.net/conferences/acra/acra2024_proceedings/views/includes/files/pap133s2.pdf

Xie S; Meng Z; Bamdad M; Cruz F, 2024, 'Contextual Recognition Network: Combining DDPG and Contextual Affordances for Robotic Safe Grasping', in Ubicomp Companion 2024 Companion of the 2024 ACM International Joint Conference on Pervasive and Ubiquitous Computing, pp. 41 - 45, http://dx.doi.org/10.1145/3675094.3677581

Darejeh A, 2024, 'A User-Centric Exploration of Axiomatic Explainable AI in Participatory Budgeting', Melbourne, Australia, presented at ACM UbiComp / ISWC 2024, Melbourne, Australia, 19 September 2024

Canelon R; Cruz F; Barrios I, 2024, 'A text mining-based method for domains using AI generative text-To-Text', in 2024 IEEE Latin American Conference on Computational Intelligence La Cci 2024 Proceedings, http://dx.doi.org/10.1109/LA-CCI62337.2024.10814840

Kappan MM; Sandoval EB; Meijering E; Cruz F, 2024, 'Attention-Enhanced Lightweight Hourglass Network for Human Pose Estimation', in Australasian Conference on Robotics and Automation Acra

Opazo A; Ayala A; Barros P; Fernandes B; Cruz F, 2024, 'EXplainable Reinforcement Learning Using Introspection in a Competitive Scenario', in 2024 IEEE Latin American Conference on Computational Intelligence La Cci 2024 Proceedings, http://dx.doi.org/10.1109/LA-CCI62337.2024.10814839

Shang Y; Chen Y; Cruz F, 2024, 'Improving Proximal Policy Optimization Algorithm in Interactive Multi-Agent Systems', in 2024 IEEE International Conference on Development and Learning ICDL 2024, http://dx.doi.org/10.1109/ICDL61372.2024.10644943

Apablaza I; Saavedra M; Ayala A; Fernandes B; Cruz F, 2024, 'Safety first: Toward safe action selection with contextual affordances', in 2024 IEEE Latin American Conference on Computational Intelligence La Cci 2024 Proceedings, http://dx.doi.org/10.1109/LA-CCI62337.2024.10814833

Ordenes D; Cruz F, 2024, 'Visual Object Affordances using Geometric Characteristics for Early Risk Detection', in 2024 IEEE Latin American Conference on Computational Intelligence La Cci 2024 Proceedings, http://dx.doi.org/10.1109/LA-CCI62337.2024.10814730

Ly A; Dazeley R; Vamplew P; Cruz F; Aryal S, 2023, 'Elastic step DDPG: Multi-step reinforcement learning for improved sample efficiency', in Proceedings of the International Joint Conference on Neural Networks, http://dx.doi.org/10.1109/IJCNN54540.2023.10191774

Lin Z; Cruz F; Sandoval EB, 2023, 'Self context-aware emotion perception on human-robot interaction', in Australasian Conference on Robotics and Automation Acra

Portugal E; Ayala A; Cruz F; Fernandes B; Murilo S, 2023, 'Time estimation for deep learning model’s inference in distributed processing units', in 2023 IEEE Latin American Conference on Computational Intelligence La Cci 2023, http://dx.doi.org/10.1109/LA-CCI58595.2023.10409398

Tong Z; Ayala A; Sandoval EB; Cruz F, 2023, 'Urban Autonomous Driving of Emergency Vehicles with Reinforcement Learning', in 2023 IEEE Latin American Conference on Computational Intelligence La Cci 2023, http://dx.doi.org/10.1109/LA-CCI58595.2023.10409469

Schroeter N; Cruz F; Wermter S, 2022, 'Introspection-based Explainable Reinforcement Learning in Episodic and Non-episodic Scenarios', in Australasian Conference on Robotics and Automation, ACRA, Queensland University of Technology (QUT), presented at Australasian Conference on Robotics and Automation, ACRA, Queensland University of Technology (QUT), 06 December 2022 - 08 December 2022, https://ssl.linklings.net/conferences/acra/acra2022_proceedings/views/includes/files/pap114s2.pdf

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