Selected Publications
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Hadassah Harland, Richard Dazeley, Bahareh Nakisa, Francisco Cruz, Peter Vamplew.
"AI apology: interactive multi-objective reinforcement learning for human-aligned AI".
Neural Computing and Applications, pp. 1-14. 2023.
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Francisco Cruz, Charlotte Young, Richard Dazeley, Peter Vamplew.
"Evaluating Human-like Explanations for Robot Actions in Reinforcement Learning Scenarios".
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022.
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Cristian Millán-Arias, Bruno Fernandes, Francisco Cruz .
"Proxemic Behavior in Navigation Tasks Using Reinforcement Learning".
Neural Computing and Applications. Springer. 2023.
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Francisco Cruz, Richard Dazeley, Peter Vamplew, Ithan Moreira.
"Explainable robotic systems: Understanding goal-driven actions in a reinforcement learning scenario".
Neural Computing and Applications. Springer. 2021. https://doi.org/10.1007/s00521-021-06425-5.
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Adam Bignold, Francisco Cruz, Richard Dazeley, Peter Vamplew, Cameron Foale.
"Persistent Rule-based Interactive Reinforcement Learning".
Neural Computing and Applications. Springer. 2021. https://doi.org/10.1007/s00521-021-06466-w.
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Francisco Cruz, Sven Magg, Cornelius Weber, and Stefan Wermter.
"Training Agents with Interactive Reinforcement Learning and Contextual Affordances".
IEEE Transactions on Cognitive and Developmental Systems
(TCDS), Vol. 8, Nr. 4, pp. 271-284, December 2016.
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Francisco Cruz, German I. Parisi, Johannes Twiefel, and Stefan Wermter.
"Multi-modal Integration of Dynamic Audiovisual Patterns for an Interactive Reinforcement Learning Scenario".
In Proceedings of the IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS), pp. 759-766, Daejeon, Korea, 2016.
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Journal Articles
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Adrian Ly, Richard Dazeley, Peter Vamplew, Francisco Cruz, Sunil Aryal.
"Elastic Step DQN: A Novel Multi-step Algorithm to Alleviate Overestimation in Deep Q-Networks".
Neurocomputing, 576 (2024): 127170. 2024.
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[Under review] Angel Ayala, Leticia Portela, Fernando Buarque, Bruno Fernandes, Francisco Cruz.
"UAV Control in Autonomous Object-Goal Navigation: A Systematic Literature Review".
Under review, Research Square preprint. 2023.
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Francisco Cruz, Thommen George Karimpanal, Miguel A Solis, Pablo Barros, Richard Dazeley.
"Human-aligned reinforcement learning for autonomous agents and robots".
Neural Computing and Applications, 35(23), 16689-16691. 2023.
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Hadassah Harland, Richard Dazeley, Bahareh Nakisa, Francisco Cruz, Peter Vamplew.
"AI apology: interactive multi-objective reinforcement learning for human-aligned AI".
Neural Computing and Applications, pp. 1-14. 2023.
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Richard Dazeley, Peter Vamplew, Francisco Cruz.
"Explainable reinforcement learning for broad-xai: a conceptual framework and survey".
Neural Computing and Applications, pp. 1-24. 2023.
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Hung Son Nguyen, Francisco Cruz, Richard Dazeley.
"Towards a Broad-Persistent Advising Approach for Deep Interactive Reinforcement Learning in Robotic Environments".
Sensors, 22(5), 2681. 2023.
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Cristian Millán-Arias, Bruno Fernandes, Francisco Cruz.
"Proxemic Behavior in Navigation Tasks Using Reinforcement Learning".
Neural Computing and Applications. Springer. 2023.
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João de Andrade, Bruno Fernandes, André Izídio, Nilson da Silva Filho, Francisco Cruz.
"Vessel Velocity Estimation and Docking Analysis: A Computer Vision Approach".
Algorithms, 16(7), 326. 2023.
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Francisco Cruz, Miguel A Solis, Nicolás Navarro-Guerrero.
"Cognitive inspired aspects of robot learning".
Frontiers in Neurorobotics, 17. 2023.
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George Oliveira de Araújo Azevedo, Bruno José Torres Fernandes, Leandro Honorato de Souza Silva, Agostinho Freire, Rogério Pontes de Araújo, Francisco Cruz.
"Event-Based Angular Speed Measurement and Movement Monitoring".
Sensors, 22(10), 7963. 2022.
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Adam Bignold, Francisco Cruz, Richard Dazeley, Peter Vamplew, Cameron Foale.
"Human Engagement Providing Evaluative and Informative Advice for Interactive Reinforcement Learning".
Neural Computing and Applications. Springer. 2022.
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Angel Ayala, Bruno Fernandes, Francisco Cruz, David Macêdo, Cleber Zanchettin.
"Convolution Optimization in Fire Classification".
IEEE Access, 10, 23642-23658. 2022.
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Ernesto Portugal, Francisco Cruz, Angel Ayala, Bruno Fernandes.
"Analysis of Explainable Goal-Driven Reinforcement Learning in a Continuous Simulated Environment".
Algorithms, 15(3), 91. 2022.
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Francisco Cruz, Richard Dazeley, Peter Vamplew, Ithan Moreira.
"Explainable robotic systems: Understanding goal-driven actions in a reinforcement learning scenario".
Neural Computing and Applications. Springer. 2021. https://doi.org/10.1007/s00521-021-06425-5.
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Adam Bignold, Francisco Cruz, Matthew E. Taylor, Tim Brys, Richard Dazeley, Peter Vamplew, Cameron Foale.
"A Conceptual Framework for Externally-influenced Agents: An Assisted Reinforcement Learning Review".
Journal of Ambient Intelligence and Humanized Computing (JAIHC). Springer. 2021. https://doi.org/10.1007/s12652-021-03489-y.
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Adam Bignold, Francisco Cruz, Richard Dazeley, Peter Vamplew, Cameron Foale.
"Persistent Rule-based Interactive Reinforcement Learning".
Neural Computing and Applications. Springer. 2021. https://doi.org/10.1007/s00521-021-06466-w.
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Cristian C. Millan-Arias, Bruno J. T. Fernandes, Francisco Cruz, Richard Dazeley, Sergio Fernandes.
"A Robust Approach for Continuous Interactive Actor-Critic Algorithms".
IEEE Access, pp. 1-19, DOI: 10.1109/ACCESS.2021.3099071, 2021.
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Richard Dazeley, Peter Vamplew, Charlotte Young, Cameron Foale, Sunil Aryal, Francisco Cruz.
"Levels of Explainable Artificial Intelligence for Human-Aligned Conversational Explanations Artificial Intelligence".
Artificial Intelligence, 299, 103525. DOI: 10.1016/j.artint.2021.103525. Elsevier. 2021.
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Angel Ayala, Tomás Ortiz Figueroa, Bruno Fernandes, Francisco Cruz.
"Diabetic Retinopathy Improved Detection Using Deep Learning".
Applied Sciences, 11(24), 11970. 2021.
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Adam Bignold, Francisco Cruz, Richard Dazeley, Peter Vamplew, Cameron Foale.
"An Evaluation Methodology for Interactive Reinforcement Learning with Simulated Users".
Biomimetics, 6(1), 13. 2021.
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Ruben Contreras, Angel Ayala, Francisco Cruz.
"Unmanned Aerial Vehicle Control through Domain-Based Automatic Speech Recognition".
Computers, 9(3), 75, September 2020.
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Ithan Moreira, Javier Rivas, Francisco Cruz, Richard Dazeley, Angel Ayala, Bruno Fernandes.
"Deep Reinforcement Learning with Interactive Feedback in a Human-Robot Environment".
Applied Sciences, 10(16), 5574, August 2020.
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Francisco Cruz, Sven Magg, Yukie Nagai, and Stefan Wermter.
"Improving interactive reinforcement learning: What makes a good teacher?".
Connection Science, Vol. 30, Nr. 3, pp. 306-325, March 2018.
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Francisco Cruz, Sven Magg, Cornelius Weber, and Stefan Wermter.
"Training Agents with Interactive Reinforcement Learning and Contextual Affordances".
IEEE Transactions on Cognitive and Developmental Systems
(TCDS), Vol. 8, Nr. 4, pp. 271-284, December 2016.
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Conference Papers
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Zihan Lin, Francisco Cruz, Eduardo Benitez Sandoval.
"Self context-aware emotion perception on human-robot interaction".
Australian Conference on Robotics and Automation (ACRA), Sydney, Australia, 2023.
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Zherui Tong, Angel Ayala, Eduardo Benitez Sandoval, Francisco Cruz.
"Urban Autonomous Driving of Emergency Vehicles with Reinforcement Learning".
IEEE Latin American Conference on Computational Intelligence (LA-CCI), Recife, Brazil, 2023.
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Ernesto Portugal, Angel Ayala, Francisco Cruz, Bruno Fernandes, Sergio Murilo.
"Time estimation for deep learning model’s inference in distributed processing units".
IEEE Latin American Conference on Computational Intelligence (LA-CCI), Recife, Brazil, 2023.
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Adrian Ly, Richard Dazeley, Peter Vamplew, Francisco Cruz, Sunil Aryal.
"Elastic step DDPG: Multi-step reinforcement learning for improved sample efficiency".
International Joint Conference on Neural Networks (IJCNN), Gold Coast, Australia, 2023.
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Niclas Schroeter, Francisco Cruz, Stefan Wermter.
"Introspection-based Explainable Reinforcement Learning in Episodic and Non-episodic Scenarios".
Australian Conference on Robotics and Automation (ACRA), Brisbane, Australia, 2022.
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Hugo Muñoz, Ernesto Portugal, Angel Ayala, Bruno Fernandes, Francisco Cruz.
"Explaining Agent's Decision-making in a Hierarchical Reinforcement Learning Scenario".
41st International Conference of the Chilean Computer Science Society (SCCC), Santiago, Chile, 2022.
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Cristian Millán-Arias, Ruben Contreras, Francisco Cruz, Bruno Fernandes.
"Reinforcement Learning for UAV control with Policy and Reward Shaping".
41st International Conference of the Chilean Computer Science Society (SCCC), Santiago, Chile, 2022.
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Francisco Cruz, Charlotte Young, Richard Dazeley, Peter Vamplew.
"Evaluating Human-like Explanations for Robot Actions in Reinforcement Learning Scenarios".
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022.
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Angel Ayala, David Macêdo, Cleber Zanchettin, Francisco Cruz, Bruno Fernandes.
"KutralNext: An Efficient Multi-label Fire and Smoke Image Recognition Model".
Proceeding of XXXIV Conference on Graphics, Patterns and Images (pp. 7-13). SBC. 2021.
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Cristian Millán-Arias, Bruno Fernandes, Francisco Cruz, Richard Dazeley, Sergio Fernandes.
"A Robust Approach for Continuous Interactive Reinforcement Learning".
The 8th International Conference on Human-Agent Interaction. Sydney, Australia, 2020.
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| Angel Ayala, Francisco Cruz, Diego Campos, Rodrigo Rubio, Bruno Fernandes, Richard Dazeley.
"A Comparison of Humanoid Robot Simulators: A Quantitative Approach".
IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob). Valparaíso, Chile, 2020. [Most popular presentation award].
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| Pablo Barros, Ana Tanevska, Francisco Cruz, Alessandra Sciutti.
"Moody Learners - Explaining Competitive Behaviour of Reinforcement Learning Agents".
IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob). Valparaíso, Chile, 2020. [Runner-up most popular presentation award].
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| Angel Ayala, Bruno Fernandes, Francisco Cruz, David Macêdo, Adriano L. I. Oliveira, Cleber Zanchettin.
"KutralNet: A Portable Deep Learning Model for Fire Recognition".
Proceedings of the IEEE International Joint Conference on Neural Networks (IJCNN). Glasgow, Scotland, 2020.
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| Francisco Cruz, Richard Dazeley, Peter Vamplew.
"Memory-based explainable reinforcement learning".
In Proceedings of the 32nd Australasian Joint Conference on Artificial Intelligence (AI2019), pp. 66-67, Adelaide, Australia, 2019.
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| Angel Ayala, Estanislau Lima, Bruno Fernandes, Byron Leite, Francisco Cruz.
"Lightweight and efficient octave convolutional neural network for fire recognition".
In Proceedings of the IEEE Latin American Conference on Computational Intelligence (LA-CCI), pp. 1-6, Guayaquil, Ecuador, 2019.
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| Cristian Millán, Bruno Fernandes, Francisco Cruz.
"Human feedback in continuous actor-critic reinforcement learning".
In Proceedings of the European Symposium on Artificial Neural Networks, Computational Intelligence and Machine Learning (ESANN), pp. 661-666, Bruges, Belgium, 2019.
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| Angel Ayala, Claudio Henríquez, Francisco Cruz.
"Reinforcement learning using continuous states and interactive feedback".
In Proceedings of Applications of Intelligent Systems (APPIS2019), pp. 1-5, Las Palmas, Spain, 2019.
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Francisco Cruz, Peter Wueppen, Alvin Fazrie, Cornelius Weber, Stefan Wermter.
"Action Selection Methods in a Robotic Reinforcement Learning Scenario".
In Proceedings of the IEEE Latin American Conference on Computational
Intelligence (LA-CCI), pp. 13-18, Guadalajara, Mexico, 2018.
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Francisco Cruz, German I. Parisi, Stefan Wermter.
"Multi-modal Feedback for Affordance-driven Interactive Reinforcement Learning".
In Proceedings of the IEEE International Joint Conference on Neural
Networks (IJCNN), pp. 5515-5122, Rio de Janeiro, Brazil, 2018.
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Francisco Cruz, Peter Wueppen, Sven Magg, Alvin Fazrie, Stefan Wermter.
"Agent-advising Approaches in an Interactive Reinforcement Learning Scenario".
In Proceedings of the IEEE International Conference on Development and
Learning and Epigenetic Robotics (ICDL-EpiRob), pp. 209-214, Lisbon,
Portugal, 2017.
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Francisco Cruz, German I. Parisi, Johannes Twiefel, and Stefan Wermter.
"Multi-modal Integration of Dynamic Audiovisual Patterns for an Interactive Reinforcement Learning Scenario".
In Proceedings of the IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS), pp. 759-766, Daejeon, Korea, 2016.
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Francisco Cruz, German I. Parisi, Stefan Wermter.
"Learning Contextual Affordances with an Associative Neural Architecture".
In Proceedings of the European Symposium on Artificial Neural Networks,
Computational Intelligence and Machine Learning (ESANN), pp. 665-670,
Bruges, Belgium, 2016.
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Francisco Cruz, Johannes Twiefel, Sven Magg, Cornelius Weber, Stefan Wermter.
"Interactive Reinforcement Learning through Speech Guidance in a Domestic Scenario".
In Proceedings of the IEEE International Joint Conference on
Neural Networks (IJCNN), pp. 1341-1348, Killarney, Ireland, 2015.
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Francisco Cruz, Sven Magg, Cornelius Weber, Stefan Wermter.
"Improving Reinforcement Learning with Interactive Feedback and Affordances".
In Proceedings of The Fourth Joint IEEE International Conference
on Developmental Learning and Epigenetic Robotics (ICDL-EpiRob), pp.
125-130, Genoa, Italy, 2014.
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Francisco Cruz, Gonzalo Acuna.
"Indirect Training with Error Backpropagation in Gray-Box Neural Model: Application to a Chemical Process".
XXIX International Conference of the SCCC, Chile, 2010.
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Francisco Cruz, Gonzalo Acuna, Francisco Cubillos, Vicente Moreno, Danilo Bassi.
"Indirect Training of Grey-Box Models: Application to a Bioprocess".
IV International Symposium on Neural Networks, China, 2007.
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Gonzalo Acuna, Francisco Cruz, Vicente Moreno.
"Identifiability of Time varying Parameters in a Grey-Box Neural Model: Application to a Biotechnological Process".
Biannual Foodsim Conference, Italy, 2006.
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Rodrigo Henriquez, Francisco Cruz, Carlos Gomez.
"Sobre la Factibilidad de Detectar Consultas en Rafaga Utilizando Redes Neuronales Artificiales" (in spanish).
IV Conference LACNEM, Chile, 2012.
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Francisco Cruz, Gonzalo Acuna, Guillermo Badillo.
"Propuesta Metodológica para la Creación de Modelos Neuronales de Caja Gris Utilizando Matlab" (in spanish).
IX LACCEI Latin American and Caribbean Conference, Colombia, 2011.
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Victor Mendez, Francisco Cruz.
"Mejora al Control de Acceso para Laboratorios" (in spanish).
XI Chilean Congress on Higher Education in Computer Science CCESC, Chile, 2010.
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Francisco Cruz, Gonzalo Acuna, Francisco Cubillos.
"Aprendizaje Indirecto con Retropropagación en Modelo
Neuronal de Caja Gris: Aplicación a Fermentación en Sustrato Sólido" (in
spanish).
XII Latinoamerican Congress of Automatic Control, Brasil, 2006.
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Francisco Cruz, Gonzalo Acuna.
"Entrenamiento Indirecto de Modelos de Caja Gris Utilizando Levenberg-Marquardt en Matlab" (in spanish).
VI Chilean Congress on Higher Education in Computer Science CCESC, Chile, 2005.
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Workshop Papers
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Jasmin Bernotat, Doreen Jirak, Eduardo Benitez Sandoval, Francisco Cruz.
"Asch Meets HRI - Human Conformity to Robot Groups".
IEEE RO-MAN conference 2023, at GROUND - advancing GROup UNderstanding and robots' aDaptive behavior Workshop,
Busan, Korea, 2023.
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Francisco Cruz, Adam Bignold, Hung Son Nguyen, Richard Dazeley, Peter Vamplew.
"Broad-persistent Advice for Interactive Reinforcement Learning Scenarios".
IEEE/RSJ Intelligent Robot Systems Conference, 2nd RL-CONFORM Workshop, Kyoto, Japan, 2022.
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Cristian Camilo Millán Arias, Bruno Fernandes, Francisco Cruz.
"Learning Proxemic Behavior Using Reinforcement Learning with Cognitive Agents".
International Conference on Development and Learning (ICDL), Workshop on Human-aligned Reinforcement Learning for Autonomous Agents and Robots, Beijing (virtual), China, 2021.
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Angel Ayala, Francisco Cruz, Bruno Fernandes, Richard Dazeley.
"Explainable Deep Reinforcement Learning Using Introspection in a Non-episodic Task".
International Conference on Development and Learning (ICDL), Workshop on Human-aligned Reinforcement Learning for Autonomous Agents and Robots, Beijing (virtual), China, 2021.
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Angel Ayala, Bruno Fernandes, Francisco Cruz, David Macêdo, Adriano L. I. Oliveira, Cleber Zanchettin.
"KutralNet: A Portable Deep Learning Model for Fire Recognition".
International Conference on Machine Learning (ICML), LatinX in AI Research Workshop, Vienna, Austria, 2020.
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Francisco Cruz, Richard Dazeley, Peter Vamplew.
"Explainable reinforcement learning".
The 7th Chilean Graduate Conference in Australia (7CGC), University of Melbourne, Melbourne, Australia, 2019.
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Francisco Cruz.
"Internal knowledge representation on trainer agents by using interactive reinforcement learning".
Neural Information Processing Systems (NeurIPS 2018), LatinX in AI Research Workshop, Montreal, Canada, 2018.
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Francisco Cruz.
"Integration of Sensory Modalities for Advice in Human-Robot Scenarios".
Neural Information Processing Systems (NeurIPS 2018), LatinX in AI Research Workshop, Montreal, Canada, 2018.
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Francisco Cruz, German I. Parisi, and Stefan Wermter.
"Oral Communication: Multi-modal Feedback for Affordance-driven Interactive Reinforcement Learning".
In Proceedings of the Argentinian Symposium on Artificial Intelligence
(ASAI2018), ISSN: 2451-7585, pag. 39-39, Buenos Aires, Argentina, 2018.
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Francisco Cruz, Sven Magg, Yukie Nagai, Stefan Wermter.
"Oral Communication: Improving interactive reinforcement learning: What makes a good teacher?".
In Proceedings of the Argentinian Symposium on Artificial Intelligence
(ASAI2018), ISSN: 2451-7585, pag. 58-58, Buenos Aires, Argentina, 2018.
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Claudio Henríquez, Jorge Cuevas, Francisco Cruz, Cristian Farías, David Simpson.
"Gray-box Neural Model for Cerebral Autoregulation Index and Assistive Diagnoses in m-Health".
IEEE International Joint Conference on Neural Networks (IJCNN),
Workshop on Intelligent Assistive Computing, Rio de Janeiro, Brazil,
2018.
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Francisco Cruz, German I. Parisi, and Stefan Wermter.
"Multi-modal Integration of Speech and Gestures for Interactive Robot Scenarios".
IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS), Workshop on Machine Learning Methods for High-Level Cognitive
Capabilities in Robotics, Daejeon, Korea, 2016.
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Nikhil Churamani, Francisco Cruz, Sascha Griffiths, and Pablo Barros.
"iCub: Learning Emotion Expressions using Human Reward".
IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS), Workshop on Bio-inspired Social Robot Learning in Home
Scenarios, Daejeon, Korea, 2016.
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Francisco Cruz, Johannes Twiefel, Stefan Wermter.
"Performing a Cleaning Task in a Simulated Human-Robot Interaction Environment".
IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS), Workshop An Open-source Recipe for Teaching/Learning Robotics
with a Simulator, Hamburg, Germany, 2015.
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Francisco Cruz, German I. Parisi, Stefan Wermter.
"Contextual Affordances for Action-Effect Prediction in a Robotic-Cleaning Task".
IEEE/RSJ International Conference on Intelligent Robots and Systems
(IROS), Workshop Learning Object Affordances: A Fundamental Step to
Allow Prediction, Planning and Tool Use?, Hamburg, Germany, 2015.
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Thesis
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Francisco Cruz.
"Teaching Robots with Interactive Reinforcement Learning".
PhD Thesis, University of Hamburg, 2017.
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