By Dr Francisco Cruz

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, 'MHDPose: Multi-hypothesis 3D human pose estimation using bidirectional Mamba diffusion models', Pattern Recognition, 180, http://dx.doi.org/10.1016/j.patcog.2026.114396

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; Schönburg S; Giammò A; Queissert F; Gonsior A; González‐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; Re LL; 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, http://dx.doi.org/10.1016/j.eururo.2020.11.030

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-Schmiedeberg's 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; Rodríguez 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

López-Fando L; Bueno P; Carracedo D; Averbeck M; Castro-Díaz DM; Chartier-Kastler E; Cruz F; Dmochowski R; Finazzi-Agrò E; Hajebrahimi S; Heesakkers J; Kasyan G; Tarcan T; Peyronnet B; Plata M; Padilla-Fernández 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

Abreu-Mendes P; Silva J; Cruz F, 2020, 'Pharmacology of the lower urinary tract: update on LUTS treatment', Therapeutic Advances in Urology, 12, pp. 1756287220922425, http://dx.doi.org/10.1177/1756287220922425

Martín‐Martínez A; Müller‐Arteaga C; Blasco‐Hernández P; Padilla‐Fernández B; Martínez‐García R; Errando‐Smet C; Vicente‐Palacio E; Cruz F; Castro‐Díaz D; López‐Fando L; Ros‐Cerro C; Arlandis‐Guzmán S; Espuña‐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

Müller‐Arteaga C; Martinez AM; Padilla‐Fernández B; Hernández PB; Pons ME; Cruz F; Errando‐Smet C; Martínez‐García R; Palacio EV; Díaz DC; López‐Fando L; Patuel BM; Cerro CR; Guzmán SA, 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; Serrão 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, pp. 14113, 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; Group OBOTEYAUFUW, 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; Rodríguez 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 Ischemia 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

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