Indirect Training of Grey-Box Models: Application to a Bioprocess. - Francisco Cruz 002; Gonzalo Acuña; Francisco A. Cubillos; Vicente Moreno; Danilo Bassi (ISNN (2), 2007)

Indirect Training with Error Backpropagation in Gray-Box Neural Model: Application to a Chemical Process. - Francisco Cruz Naranjo; Gonzalo Acuña Leiva (SCCC, 2010)

Improving reinforcement learning with interactive feedback and affordances. - Francisco Cruz 002; Sven Magg; Cornelius Weber; Stefan Wermter (ICDL-EPIROB, 2014)

Interactive reinforcement learning through speech guidance in a domestic scenario. - Francisco Cruz 002; Johannes Twiefel; Sven Magg; Cornelius Weber; Stefan Wermter (IJCNN, 2015)

Learning contextual affordances with an associative neural architecture. - Francisco Cruz 002; German Ignacio Parisi; Stefan Wermter (ESANN, 2016)

Multi-modal integration of dynamic audiovisual patterns for an interactive reinforcement learning scenario. - Francisco Cruz 002; German Ignacio Parisi; Johannes Twiefel; Stefan Wermter (IROS, 2016)

Training Agents With Interactive Reinforcement Learning and Contextual Affordances. - Francisco Cruz 002; Sven Magg; Cornelius Weber; Stefan Wermter (IEEE Trans. Cogn. Dev. Syst., 2016)

Agent-advising approaches in an interactive reinforcement learning scenario. - Francisco Cruz 002; Peter Wuppen; Sven Magg; Alvin Fazrie; Stefan Wermter (ICDL-EPIROB, 2017)

Teaching Robots With Interactive Reinforcement Learning. - Francisco Cruz 002 (2017)

Multi-modal Feedback for Affordance-driven Interactive Reinforcement Learning. - Francisco Cruz 002; German Ignacio Parisi; Stefan Wermter (IJCNN, 2018)

Action Selection Methods in a Robotic Reinforcement Learning Scenario. - Francisco Cruz 002; Peter Wuppen; Alvin Fazrie; Cornelius Weber; Stefan Wermter (LA-CCI, 2018)

Improving interactive reinforcement learning: What makes a good teacher? - Francisco Cruz 002; Sven Magg; Yukie Nagai; Stefan Wermter (Connect. Sci., 2018)

Reinforcement learning using continuous states and interactive feedback. - Angel Ayala; Claudio Henríquez; Francisco Cruz 002 (APPIS, 2019)

Memory-Based Explainable Reinforcement Learning. - Francisco Cruz 002; Richard Dazeley; Peter Vamplew 001 (Australasian Conference on Artificial Intelligence, 2019)

Human feedback in continuous actor-critic reinforcement learning. - Cristian Millán 001; Bruno J. T. Fernandes; Francisco Cruz 002 (ESANN, 2019)

Lightweight and efficient octave convolutional neural network for fire recognition. - Angel Ayala; Estanislau Lima; Bruno J. T. Fernandes; Byron L. D. Bezerra; Francisco Cruz 002 (LA-CCI, 2019)

A Robust Approach for Continuous Interactive Reinforcement Learning. - Cristian Millán-Arias; Bruno J. T. Fernandes; Francisco Cruz 002; Richard Dazeley; Sérgio Fernandes 001 (HAI, 2020)

A Comparison of Humanoid Robot Simulators: A Quantitative Approach. - Angel Ayala; Francisco Cruz 002; Diego Campos; Rodrigo Rubio; Bruno J. T. Fernandes; Richard Dazeley (ICDL-EPIROB, 2020)

Moody Learners - Explaining Competitive Behaviour of Reinforcement Learning Agents. - Pablo V. A. Barros; Ana Tanevska; Francisco Cruz 002; Alessandra Sciutti (ICDL-EPIROB, 2020)

KutralNet: A Portable Deep Learning Model for Fire Recognition. - Angel Ayala; Bruno J. T. Fernandes; Francisco Cruz 002; David L. Macêdo; Adriano L. I. Oliveira; Cleber Zanchettin (IJCNN, 2020)

Unmanned Aerial Vehicle Control through Domain-Based Automatic Speech Recognition. - Ruben Contreras; Angel Ayala; Francisco Cruz 002 (Comput., 2020)

iCub: Learning Emotion Expressions using Human Reward. - Nikhil Churamani; Francisco Cruz 002; Sascha S. Griffiths; Pablo V. A. Barros (CoRR, 2020)

Explainable robotic systems: Interpreting outcome-focused actions in a reinforcement learning scenario. - Francisco Cruz 002; Richard Dazeley; Peter Vamplew 001 (CoRR, 2020)

Deep Reinforcement Learning with Interactive Feedback in a Human-Robot Environment. - Ithan Moreira; Javier Rivas; Francisco Cruz 002; Richard Dazeley; Angel Ayala; Bruno J. T. Fernandes (CoRR, 2020)

A Robust Approach for Continuous Interactive Actor-Critic Algorithms. - Cristian Millán-Arias; Bruno J. T. Fernandes; Francisco Cruz 002; Richard Dazeley; Sérgio Fernandes 001 (IEEE Access, 2021)

Levels of explainable artificial intelligence for human-aligned conversational explanations. - Richard Dazeley; Peter Vamplew 001; Cameron Foale; Charlotte Young; Sunil Aryal; Francisco Cruz 002 (Artif. Intell., 2021)

Learning Proxemic Behavior Using Reinforcement Learning with Cognitive Agents. - Cristian Millán-Arias; Bruno J. T. Fernandes; Francisco Cruz 002 (CoRR, 2021)

Explainable Deep Reinforcement Learning Using Introspection in a Non-episodic Task. - Angel Ayala; Francisco Cruz 002; Bruno J. T. Fernandes; Richard Dazeley (CoRR, 2021)

A Broad-persistent Advising Approach for Deep Interactive Reinforcement Learning in Robotic Environments. - Hung Son Nguyen; Francisco Cruz 002; Richard Dazeley (CoRR, 2021)

Evaluating Human-like Explanations for Robot Actions in Reinforcement Learning Scenarios. - Francisco Cruz 002; Charlotte Young; Richard Dazeley; Peter Vamplew 001 (IROS, 2022)

Reinforcement Learning for UAV control with Policy and Reward Shaping. - Cristian Millán-Arias; Ruben Contreras; Francisco Cruz 002; Bruno J. T. Fernandes (SCCC, 2022)

Explaining Agent's Decision-making in a Hierarchical Reinforcement Learning Scenario. - Hugo Muñoz; Ernesto Portugal; Angel Ayala; Bruno J. T. Fernandes; Francisco Cruz 002 (SCCC, 2022)

Convolution Optimization in Fire Classification. - Angel Ayala; Bruno José Torres Fernandes; Francisco Cruz 002; David L. Macêdo; Cleber Zanchettin (IEEE Access, 2022)

Analysis of Explainable Goal-Driven Reinforcement Learning in a Continuous Simulated Environment. - Ernesto Portugal; Francisco Cruz 002; Angel Ayala; Bruno J. T. Fernandes (Algorithms, 2022)

Elastic Step DQN: A novel multi-step algorithm to alleviate overestimation in Deep QNetworks. - Adrian Ly; Richard Dazeley; Peter Vamplew 001; Francisco Cruz 002; Sunil Aryal (CoRR, 2022)

Broad-persistent Advice for Interactive Reinforcement Learning Scenarios. - Francisco Cruz 002; Adam Bignold; Hung Son Nguyen; Richard Dazeley; Peter Vamplew 001 (CoRR, 2022)

Introspection-based Explainable Reinforcement Learning in Episodic and Non-episodic Scenarios. - Niclas Schroeter; Francisco Cruz 002; Stefan Wermter (CoRR, 2022)

Event-Based Angular Speed Measurement and Movement Monitoring. - George Oliveira de Araújo Azevedo; Bruno José Torres Fernandes; Leandro Honorato de Souza Silva; Agostinho Freire; Rogério Pontes de Araújo; Francisco Cruz 002 (Sensors, 2022)

Elastic step DDPG: Multi-step reinforcement learning for improved sample efficiency. - Adrian Ly; Richard Dazeley; Peter Vamplew 001; Francisco Cruz 002; Sunil Aryal (IJCNN, 2023)

Time estimation for deep learning model's inference in distributed processing units. - Ernesto Portugal; Angel Ayala; Francisco Cruz 002; Bruno J. T. Fernandes; Sérgio Murilo Maciel Fernandes (LA-CCI, 2023)

Urban Autonomous Driving of Emergency Vehicles with Reinforcement Learning. - Zherui Tong; Angel Ayala; Eduardo Benítez Sandoval; Francisco Cruz 002 (LA-CCI, 2023)

Asch Meets HRI: Human Conformity to Robot Groups. - Jasmin Bernotat; Doreen Jirak; Eduardo Benítez Sandoval; Francisco Cruz 002; Alessandra Sciutti (CoRR, 2023)

A conceptual framework for externally-influenced agents: an assisted reinforcement learning review. - Adam Bignold; Francisco Cruz 002; Matthew E. Taylor; Tim Brys; Richard Dazeley; Peter Vamplew 001; Cameron Foale (J. Ambient Intell. Humaniz. Comput., 2023)

Towards a Broad-Persistent Advising Approach for Deep Interactive Reinforcement Learning in Robotic Environments. - Hung Son Nguyen; Francisco Cruz 002; Richard Dazeley (Sensors, 2023)

Editorial: Cognitive inspired aspects of robot learning. - Francisco Cruz 002; Miguel A. Solis; Nicolás Navarro-Guerrero (Frontiers Neurorobotics, 2023)

Vessel Velocity Estimation and Docking Analysis: A Computer Vision Approach. - João V. R. de Andrade; Bruno J. T. Fernandes; André R. L. C. Izídio; Nilson M. da Silva Filho; Francisco Cruz 002 (Algorithms, 2023)

Human-aligned reinforcement learning for autonomous agents and robots. - Francisco Cruz 002; Thommen George Karimpanal; Miguel A. Solis; Pablo Barros 001; Richard Dazeley (Neural Comput. Appl., 2023)

Explainable reinforcement learning for broad-XAI: a conceptual framework and survey. - Richard Dazeley; Peter Vamplew 001; Francisco Cruz 002 (Neural Comput. Appl., 2023)

AI apology: interactive multi-objective reinforcement learning for human-aligned AI. - Hadassah Harland; Richard Dazeley; Bahareh Nakisa; Francisco Cruz 002; Peter Vamplew 001 (Neural Comput. Appl., 2023)

Proxemic behavior in navigation tasks using reinforcement learning. - Cristian Millán-Arias; Bruno J. T. Fernandes; Francisco Cruz 002 (Neural Comput. Appl., 2023)

Human engagement providing evaluative and informative advice for interactive reinforcement learning. - Adam Bignold; Francisco Cruz 002; Richard Dazeley; Peter Vamplew 001; Cameron Foale (Neural Comput. Appl., 2023)

Explainable robotic systems: understanding goal-driven actions in a reinforcement learning scenario. - Francisco Cruz 002; Richard Dazeley; Peter Vamplew 001; Ithan Moreira (Neural Comput. Appl., 2023)

Persistent rule-based interactive reinforcement learning. - Adam Bignold; Francisco Cruz 002; Richard Dazeley; Peter Vamplew 001; Cameron Foale (Neural Comput. Appl., 2023)

Boosting Reinforcement Learning Algorithms in Continuous Robotic Reaching Tasks Using Adaptive Potential Functions. - Yifei Chen; Lambert Schomaker; Francisco Cruz 002 (AI (2), 2024)

Human Decision-Making Concepts with Goal-Oriented Reasoning for Explainable Deep Reinforcement Learning. - Chris Lee; Eduardo Benítez Sandoval; Francisco Cruz 002 (AI (1), 2024)

Improving Proximal Policy Optimization Algorithm in Interactive Multi-Agent Systems. - Yi Shang; Yifei Chen; Francisco Cruz 002 (ICDL, 2024)

Safety first: Toward safe action selection with contextual affordances. - Inés Apablaza; Martín Saavedra; Angel Ayala; Bruno J. T. Fernandes; Francisco Cruz 002 (LA-CCI, 2024)

A text mining-based method for domains using AI generative text-to-text. - Rodolfo Canelón; Francisco Cruz 002; Irisysleyer Barrios (LA-CCI, 2024)

eXplainable Reinforcement Learning Using Introspection in a Competitive Scenario. - Alfonso Opazo; Angel Ayala; Pablo V. A. Barros; Bruno J. T. Fernandes; Francisco Cruz 002 (LA-CCI, 2024)

Visual Object Affordances using Geometric Characteristics for Early Risk Detection. - Diego Ordenes; Francisco Cruz 002 (LA-CCI, 2024)

Self context-aware emotion perception on human-robot interaction. - Zihan Lin; Francisco Cruz 002; Eduardo Benítez Sandoval (CoRR, 2024)

Contextual Affordances for Safe Exploration in Robotic Scenarios. - William Z. Ye; Eduardo B. Sandoval; Pamela Carreno-Medrano; Francisco Cruz 002 (CoRR, 2024)

Adaptive Alignment: Dynamic Preference Adjustments via Multi-Objective Reinforcement Learning for Pluralistic AI. - Hadassah Harland; Richard Dazeley; Peter Vamplew 001; Hashini Senaratne; Bahareh Nakisa; Francisco Cruz 002 (CoRR, 2024)

PERCY: A Multimodal Dataset and Conversational System for Personalized and Emotionally Aware Human-Robot Interaction. - Mohammed Althubyani; Zhijin Meng; Shengyuan Xie; Cha Seung; Imran Razzak; Eduardo Benítez Sandoval; Baki Kocaballi; Mahdi Bamdad; Francisco Cruz Naranjo (CoRR, 2024)

Attention-Enhanced Lightweight Hourglass Network for Human Pose Estimation. - Marsha Mariya Kappan; Eduardo Benítez Sandoval; Erik Meijering; Francisco Cruz 002 (CoRR, 2024)

How Can LLMs and Knowledge Graphs Contribute to Robot Safety? A Few-Shot Learning Approach. - Abdulrahman Althobaiti; Angel Ayala; JingYing Gao; Ali Almutairi; Mohammad Deghat; Imran Razzak; Francisco Cruz 002 (CoRR, 2024)

AI Apology: A Critical Review of Apology in AI Systems. - Hadassah Harland; Richard Dazeley; Hashini Senaratne; Peter Vamplew 001; Francisco Cruz 002; Bahareh Nakisa (CoRR, 2024)

Elastic step DQN: A novel multi-step algorithm to alleviate overestimation in Deep Q-Networks. - Adrian Ly; Richard Dazeley; Peter Vamplew 001; Francisco Cruz 002; Sunil Aryal (Neurocomputing, 2024)

UAV control in autonomous object-goal navigation: a systematic literature review. - Angel Ayala; Letícia Portela; Fernando Buarque; Bruno J. T. Fernandes; Francisco Cruz 002 (Artif. Intell. Rev., 2024)

HRIxD: End-Effector Specialised in Drumming for Performing Robots. - Khaja Ahmed Shaik; Eduardo Benítez Sandoval; Shengyuan Xie; Francisco Cruz 002 (HRI, 2025)

A Fuzzy Supervisory Framework for Real-Time Optimization of Robot Output and LLM Performance in HRI. - Khaja Ahmed Shaik; Shengyuan Xie; Francisco Cruz 002; Eduardo Benítez Sandoval (HRI, 2025)

Embodied Generative AI Art for Enhanced Human-Robot Interaction Through a Human-Centric LLM-Guided Robotic Arm Drawing System. - Shengyuan Xie; Eduardo Benítez Sandoval; Khaja Ahmed Shaik; Francisco Cruz 002 (HRI, 2025)

PERCY: Personal Emotional Robotic Conversational System. - Zhijin Meng; Mohammed Althubyani; Shengyuan Xie; Imran Razzak; Eduardo B. Sandoval; Mahdi Bamdad; Francisco Cruz 002 (CoRR, 2025)

Modeling and Dynamic Analysis of Fish Robot with Soft Fluidic Actuation. - Mahdi Bamdad; Ahmad Karimi; Seyedali Sina; Francisco Cruz 002 (J. Intell. Robotic Syst., 2025)

Ensemble Elastic DQN: A novel multi-step ensemble approach to address overestimation in deep value-based reinforcement learning. - Adrian Ly; Richard Dazeley; Peter Vamplew 001; Francisco Cruz 002; Sunil Aryal (CoRR, 2025)

Understanding User Preferences in Explainable Artificial Intelligence: A Mapping Function Proposal. - Maryam Hashemi; Ali Darejeh; Francisco Cruz 002 (ACM Trans. Intell. Syst. Technol., 2025)