By Dr Francisco Cruz

Journal articles

LINDORO J; CASTRO JC; CRUZ F; MARQUES R, 1984, 'TREATMENT OF PRIAPISM', LANCET, 2, pp. 1348 - 1348

Conference Papers

Jayaprakash R; Xie S; Midgley W; Cruz F, 2026, 'Human Engagement-Based Smoother Topic Transition in Dynamic Conversations with Social Assistive Robots', in Proceedings of 2026 Australasian Computer Science Week Acsw 2026, pp. 128 - 138, http://dx.doi.org/10.1145/3793811.3793813

Mesto M; Cruz F, 2026, 'Conservative Bias in Multi-Teacher Learning: Why Agents Prefer Low-Reward Advisors', in Australasian Conference on Robotics and Automation Acra

Zhao H; Kappan MM; Bamdad M; Cruz F, 2026, 'LAPX: Lightweight Hourglass Network with Global Context', in Australasian Conference on Robotics and Automation Acra

Meng Z; Althubyani M; Xie S; Razzak I; Sandoval EB; Bamdad M; Cruz F, 2026, 'PERCY: Personal Emotional Robotic Conversational System', in Lecture Notes in Computer Science, pp. 466 - 478, http://dx.doi.org/10.1007/978-981-95-4972-6_36

Ji S; Bamdad M; Cruz F, 2026, 'SWIFT-Nav: Stability-Aware Waypoint-Level TD3 with Fuzzy Arbitration for UAV Navigation in Cluttered Environments', in Australasian Conference on Robotics and Automation Acra

Mesto M; Cruz F, 2026, 'The Consensus Paradox: When Low Disagreement Leads to Catastrophic Failure in Multi-teacher Reinforcement Learning', in Lecture Notes in Computer Science, pp. 426 - 438, http://dx.doi.org/10.1007/978-981-95-4972-6_33

Sevinc MO; Wu L; Cruz F, 2026, 'Towards Closing the Domain Gap with Event Cameras', in Australasian Conference on Robotics and Automation Acra

Meng C; Sandoval EB; Sosa R; Cruz F, 2026, 'Towards Senior-Robot Interaction: Reactive Robot Dog Gestures', in Australasian Conference on Robotics and Automation Acra

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

Millan-Arias C; Gutierrez E; Cruz F, 2025, 'Help me to Clean: Studying Multi-trainers on Interactive Reinforcement Learning in Domestic Scenarios', in Proceedings 2025 51st Latin American Computer Conference Clei 2025, http://dx.doi.org/10.1109/CLEI67442.2025.11420674

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

Althubyani M; Meng Z; Xie S; Cruz F; Razzak I; Prasad M; Sandoval EB; Kocaballi B, 2025, 'MERCI: A Multimodal Dataset for Personalised and Emotionally-Aware Dialogues', in Cbmi 2025 2025 International Conference on Content Based Multimedia Indexing Conference Proceedings, http://dx.doi.org/10.1109/CBMI66578.2025.11339324

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

Cruz F; Young C; Dazeley R; Vamplew P, 2022, 'Evaluating Human-like Explanations for Robot Actions in Reinforcement Learning Scenarios', in IEEE International Conference on Intelligent Robots and Systems, pp. 894 - 901, http://dx.doi.org/10.1109/IROS47612.2022.9981334

Muñoz H; Portugal E; Ayala A; Fernandes B; Cruz F, 2022, 'Explaining Agent's Decision-making in a Hierarchical Reinforcement Learning Scenario', in Proceedings International Conference of the Chilean Computer Science Society Sccc, http://dx.doi.org/10.1109/SCCC57464.2022.10000321

Millán-Arias C; Contreras R; Cruz F; Fernandes B, 2022, 'Reinforcement Learning for UAV control with Policy and Reward Shaping', in Proceedings International Conference of the Chilean Computer Science Society Sccc, http://dx.doi.org/10.1109/SCCC57464.2022.10000286

Millán-Arias C; Fernandes B; Cruz F; Dazeley R; Fernandes S, 2020, 'A Robust Approach for Continuous Interactive Reinforcement Learning', in Hai 2020 Proceedings of the 8th International Conference on Human Agent Interaction, pp. 278 - 280, http://dx.doi.org/10.1145/3406499.3418769

Ayala A; Cruz F; Campos D; Rubio R; Fernandes B; Dazeley R, 2020, 'A Comparison of Humanoid Robot Simulators: A Quantitative Approach', in ICDL Epirob 2020 10th IEEE International Conference on Development and Learning and Epigenetic Robotics, http://dx.doi.org/10.1109/ICDL-EpiRob48136.2020.9278116

Barros P; Tanevska A; Cruz F; Sciutti A, 2020, 'Moody Learners-Explaining Competitive Behaviour of Reinforcement Learning Agents', in ICDL Epirob 2020 10th IEEE International Conference on Development and Learning and Epigenetic Robotics, http://dx.doi.org/10.1109/ICDL-EpiRob48136.2020.9278125

Ayala A; Fernandes B; Cruz F; MacEdo D; Oliveira ALI; Zanchettin C, 2020, 'KutralNet: A Portable Deep Learning Model for Fire Recognition', in Proceedings of the International Joint Conference on Neural Networks, http://dx.doi.org/10.1109/IJCNN48605.2020.9207202

Nunez-Badinez P; Nagel J; De Leo B; Saunders P; Simitsidellis I; Krings D; Tzschentke T; McMahon S; Merlos M; Charrua A; Cruz F; Gomez R; Laux-Biehlmann A, 2020, 'Value of Animal Models for Translational Research in Pelvic Pain: A Systematic Literature Review on Preclinical Models of Endometriosis and IC/BPS.', in REPRODUCTIVE SCIENCES, SPRINGER HEIDELBERG, CANADA, Vancouver, pp. 135A - 135A, presented at 67th Annual Scientific Meeting of the Society-for-Reproductive-Investigation (SRI), CANADA, Vancouver, 10 March 2020 - 14 March 2020

Ayala A; Lima E; Fernandes B; Bezerra BLD; Cruz F, 2019, 'Lightweight and efficient octave convolutional neural network for fire recognition', in 2019 IEEE LATIN AMERICAN CONFERENCE ON COMPUTATIONAL INTELLIGENCE (LA-CCI), IEEE, ECUADOR, Guayaquil, pp. 87 - 92, presented at IEEE Latin American Conference on Computational Intelligence (LA-CCI), ECUADOR, Guayaquil, 11 November 2019 - 15 November 2019

Ayala A; Lima E; Fernandes B; Bezerra BLD; Cruz F, 2019, 'Lightweight and efficient octave convolutional neural network for fire recognition', in 2019 IEEE Latin American Conference on Computational Intelligence La Cci 2019, http://dx.doi.org/10.1109/LA-CCI47412.2019.9037059

Cruz F; Wuppen P; Fazrie A; Weber C; Wermter S, 2019, 'Action Selection Methods in a Robotic Reinforcement Learning Scenario', in 2018 IEEE Latin American Conference on Computational Intelligence La Cci 2018, http://dx.doi.org/10.1109/LA-CCI.2018.8625243

Ayala A; Henríquez C; Cruz F, 2019, 'Reinforcement learning using continuous states and interactive feedback', in ACM International Conference Proceeding Series, http://dx.doi.org/10.1145/3309772.3309801

Millán C; Fernandes B; Cruz F, 2019, 'Human feedback in continuous actor-critic reinforcement learning', in Esann 2019 Proceedings 27th European Symposium on Artificial Neural Networks Computational Intelligence and Machine Learning, pp. 661 - 666

Cruz F; Parisi GI; Wermter S, 2018, 'Multi-modal Feedback for Affordance-driven Interactive Reinforcement Learning', in Proceedings of the International Joint Conference on Neural Networks, http://dx.doi.org/10.1109/IJCNN.2018.8489237

Cruz F; Wuppen P; Magg S; Fazrie A; Wermter S, 2017, 'Agent-advising approaches in an interactive reinforcement learning scenario', in 7th Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics ICDL Epirob 2017, pp. 209 - 214, http://dx.doi.org/10.1109/DEVLRN.2017.8329809

Cruz F; Parisi GI; Twiefel J; Wermter S, 2016, 'Multi-modal integration of dynamic audiovisual patterns for an interactive reinforcement learning scenario', in IEEE International Conference on Intelligent Robots and Systems, pp. 759 - 766, http://dx.doi.org/10.1109/IROS.2016.7759137

Cruz F; Parisi GI; Wermter S, 2016, 'Learning contextual affordances with an associative neural architecture', in Esann 2016 24th European Symposium on Artificial Neural Networks, pp. 665 - 670

Cruz F; Twiefel J; Magg S; Weber C; Wermter S, 2015, 'Interactive reinforcement learning through speech guidance in a domestic scenario', in Proceedings of the International Joint Conference on Neural Networks, http://dx.doi.org/10.1109/IJCNN.2015.7280477

da Silva CM; Chancellor MB; Smith CP; Cruz F, 2015, 'Use of botulinum toxin for genitourinary conditions: What is the evidence?', in Toxicon, Elsevier, pp. 141 - 147, http://dx.doi.org/10.1016/j.toxicon.2015.07.333

Cruz F; Magg S; Weber C; Wermter S, 2014, 'Improving reinforcement learning with interactive feedback and affordances', in IEEE ICDL Epirob 2014 4th Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics, pp. 165 - 170, http://dx.doi.org/10.1109/DEVLRN.2014.6982975

Naranjo FC; Leiva GA, 2010, 'Indirect training with error backpropagation in gray-box neural model: Application to a chemical process', in Proceedings International Conference of the Chilean Computer Science Society Sccc, pp. 265 - 269, http://dx.doi.org/10.1109/SCCC.2010.41

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