By Dr Francisco Cruz

Conference Papers

Coelho A; Cruz F; Cruz CD; Avelino A, 2010, '191 EFFECT OF BOTULINUM TOXIN TYPE A ON INTRAMURAL PARASYMPATHETIC GANGLIA OF THE GUINEA-PIG BLADDER', in Journal of Urology, Wolters Kluwer, pp. e76, http://dx.doi.org/10.1016/j.juro.2010.02.247

Cruz F; Dambros M; Naber KG; Bauer HW; Cozma G, 2009, 'Recurrent Urinary Tract Infections: Uro-Vaxom®, a New Alternative', in European Urology Open Science, Elsevier, pp. 762 - 768, http://dx.doi.org/10.1016/j.eursup.2009.07.002

Cruz F; Acuña G; Cubillos F; Moreno V; Bassi D, 2007, 'Indirect training of grey-box models: application to a bioprocess', in Lecture Notes in Computer Science Including Subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics, pp. 391 - 397, http://dx.doi.org/10.1007/978-3-540-72393-6_47

Cruz F; Dinis P, 2007, 'Resiniferatoxin and botulinum toxin type A for treatment of lower urinary tract symptoms', in Neurourology and Urodynamics, Wiley, pp. 920 - 927, http://dx.doi.org/10.1002/nau.20479

Acuña G; Cruz F; Moreno V, 2006, 'Identifiability of time varying parameters in a Grey-Box Neural Model: Application to a biotechnological process', in 4th International Conference on Simulation and Modelling in the Food and Bio Industry 2006 Foodsim 2006, pp. 26 - 31

Cruz F, 2004, 'Mechanisms involved in new therapies for overactive bladder', in Urology, Elsevier, pp. 65 - 73, http://dx.doi.org/10.1016/j.urology.2003.11.001

Cruz F, 2002, 'Vanilloid receptor and detrusor instability', in Urology, Elsevier, pp. 51 - 60, http://dx.doi.org/10.1016/s0090-4295(01)01638-7

Cruz F; Guimaraes M; Silva C; Rio ME; Coimbra A; Reis M, 1997, 'Desensitization of Bladder Sensory Fibers by Intravesical Capsaicin has Long Lasting Clinical and Urodynamic Effects in Patients With Hyperactive or Hypersensitive Bladder Dysfunction', in Journal of Urology, Wolters Kluwer, pp. 585 - 589, http://dx.doi.org/10.1016/s0022-5347(01)65211-x

Conference Presentations

Ye WZY; Benitez Sandoval E; Carreno-Medrano P; Cruz Naranjo F, 2024, 'Contextual Affordances for Safe Exploration in Robotic Scenarios', presented at 2nd Workshop on Human-aligned Reinforcement Learning for Autonomous Agents and Robots HARL, at the IEEE International Conference on Robotics and Automation ICRA,, Yokohama, Japan, 13 May 2024 - 17 May 2024, https://arxiv.org/pdf/2405.06422

Preprints

Lee C; Salim F; Tag B; Cruz F, 2026, Generating Natural and Expressive Robot Gestures through Iterative Reinforcement Learning with Human Feedback using LLMs, https://arxiv.org/abs/2606.18747v1

Ayala A; Sui D; Cruz F; Torok M; Deghat M; Fernandes BJT, 2026, Self-Predictive Representation for Autonomous UAV Object-Goal Navigation, http://dx.doi.org/10.48550/arxiv.2604.21130

Ly A; Dazeley R; Vamplew P; Aryal S; Naranjo FC, 2026, Overestimation Bias in Deep Reinforcement Learning: A CriticalSurvey, http://dx.doi.org/10.2139/ssrn.7263985

Ly A; Dazeley R; Vamplew P; Aryal S; Naranjo FC, 2026, Overestimation Bias in Deep Reinforcement Learning: A CriticalSurvey, http://dx.doi.org/10.2139/ssrn.7265386

Ly A; Dazeley R; Vamplew P; Cruz F; Aryal S, 2025, Ensemble Elastic DQN: A Step Dependent Ensemble Approach for Reducing Overestimation in Deep Value-Based Reinforcement Learning, https://arxiv.org/abs/2506.05716v2

Althubyani M; Meng Z; Xie S; Seung C; Razzak I; Sandoval EB; Kocaballi B; Cruz F, 2025, MERCI: Multimodal Emotional and peRsonal Conversational Interactions Dataset, http://dx.doi.org/10.48550/arxiv.2412.04908

Meng Z; Althubyani M; Xie S; Razzak I; Sandoval EB; Bamdad M; Cruz F, 2025, PERCY: Personal Emotional Robotic Conversational System, http://dx.doi.org/10.48550/arxiv.2503.16473

Harland H; Dazeley R; Senaratne H; Vamplew P; Cruz F; Nakisa B, 2024, AI Apology: A Critical Review of Apology in AI Systems, https://arxiv.org/abs/2412.15787v1

Harland H; Dazeley R; Vamplew P; Senaratne H; Nakisa B; Cruz F, 2024, Adaptive Alignment: Dynamic Preference Adjustments via Multi-Objective Reinforcement Learning for Pluralistic AI, https://arxiv.org/abs/2410.23630v1

Hashemi M; Darejeh A; Cruz F, 2024, Understanding User Preferences in Explainable Artificial Intelligence: A Survey and a Mapping Function Proposal, http://dx.doi.org/10.48550/arxiv.2302.03180

Ye WZ; Sandoval EB; Carreno-Medrano P; Cru F, 2024, Contextual Affordances for Safe Exploration in Robotic Scenarios, https://arxiv.org/abs/2405.06422v1

Lin Z; Cruz F; Sandoval EB, 2024, Self context-aware emotion perception on human-robot interaction, https://arxiv.org/abs/2401.10946v1

Bernotat J; Jirak D; Sandoval EB; Cruz F; Sciutti A, 2023, Asch Meets HRI: Human Conformity to Robot Groups, https://arxiv.org/abs/2308.13307v1

Muñoz H; Portugal E; Ayala A; Fernandes B; Cruz F, 2022, Explaining Agent's Decision-making in a Hierarchical Reinforcement Learning Scenario, https://arxiv.org/abs/2212.06967v1

Millán-Arias C; Contreras R; Cruz F; Fernandes B, 2022, Reinforcement Learning for UAV control with Policy and Reward Shaping, https://arxiv.org/abs/2212.03828v1

Schroeter N; Cruz F; Wermter S, 2022, Introspection-based Explainable Reinforcement Learning in Episodic and Non-episodic Scenarios, https://arxiv.org/abs/2211.12930v1

Cruz F; Bignold A; Nguyen HS; Dazeley R; Vamplew P, 2022, Broad-persistent Advice for Interactive Reinforcement Learning Scenarios, https://arxiv.org/abs/2210.05187v1

Ly A; Dazeley R; Vamplew P; Cruz F; Aryal S, 2022, Elastic Step DQN: A novel multi-step algorithm to alleviate overestimation in Deep QNetworks, https://arxiv.org/abs/2210.03325v1

Cruz F; Young C; Dazeley R; Vamplew P, 2022, Evaluating Human-like Explanations for Robot Actions in Reinforcement Learning Scenarios, https://arxiv.org/abs/2207.03214v1

Nguyen HS; Cruz F; Dazeley R, 2021, A Broad-persistent Advising Approach for Deep Interactive Reinforcement Learning in Robotic Environments, https://arxiv.org/abs/2110.08003v2

Dazeley R; Vamplew P; Cruz F, 2021, Explainable Reinforcement Learning for Broad-XAI: A Conceptual Framework and Survey, https://arxiv.org/abs/2108.09003v1

Ayala A; Cruz F; Fernandes B; Dazeley R, 2021, Explainable Deep Reinforcement Learning Using Introspection in a Non-episodic Task, https://arxiv.org/abs/2108.08911v1

Millán-Arias C; Fernandes B; Cruz F, 2021, Learning Proxemic Behavior Using Reinforcement Learning with Cognitive Agents, https://arxiv.org/abs/2108.03730v1

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

Bignold A; Cruz F; Dazeley R; Vamplew P; Foale C, 2021, Persistent Rule-based Interactive Reinforcement Learning, https://arxiv.org/abs/2102.02441v2

Cuevas J; Henriquez C; Cruz F, 2020, Towards Assistive Diagnoses in m-Health: A Gray-box Neural Model for Cerebral Autoregulation Index, https://arxiv.org/abs/2011.12115v1

Bignold A; Cruz F; Dazeley R; Vamplew P; Foale C, 2020, Human Engagement Providing Evaluative and Informative Advice for Interactive Reinforcement Learning, https://doi.org/10.1007/s00521-021-06850-6

Contreras R; Ayala A; Cruz F, 2020, Unmanned Aerial Vehicle Control Through Domain-based Automatic Speech Recognition, https://doi.org/10.3390/computers9030075

Ayala A; Fernandes B; Cruz F; Macêdo D; Oliveira ALI; Zanchettin C, 2020, KutralNet: A Portable Deep Learning Model for Fire Recognition, https://doi.org/10.1109/IJCNN48605.2020.9207202

Ayala A; Cruz F; Campos D; Rubio R; Fernandes B; Dazeley R, 2020, A Comparison of Humanoid Robot Simulators: A Quantitative Approach, https://arxiv.org/abs/2008.04627v1

Barros P; Tanevska A; Cruz F; Sciutti A, 2020, Moody Learners -- Explaining Competitive Behaviour of Reinforcement Learning Agents, https://arxiv.org/abs/2007.16045v1

Moreira I; Rivas J; Cruz F; Dazeley R; Ayala A; Fernandes B, 2020, Deep Reinforcement Learning with Interactive Feedback in a Human-Robot Environment, https://doi.org/10.3390/app10165574

Bignold A; Cruz F; Taylor ME; Brys T; Dazeley R; Vamplew P; Foale C, 2020, A Conceptual Framework for Externally-influenced Agents: An Assisted Reinforcement Learning Review, https://doi.org/10.1007/s12652-021-03489-y

Cruz F; Dazeley R; Vamplew P; Moreira I, 2020, Explainable robotic systems: Understanding goal-driven actions in a reinforcement learning scenario, https://doi.org/10.1007/s00521-021-06425-5

Cruz F; Magg S; Nagai Y; Wermter S, 2019, Improving interactive reinforcement learning: What makes a good teacher?, https://doi.org/10.1080/09540091.2018.1443318

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