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Dr Francisco Cruz Naranjo

Dr Francisco Cruz Naranjo

Senior Lecturer
Engineering
Computer Science and Engineering

I received a bachelor’s degree in engineering and a master’s degree in computer engineering from the University of Santiago, Chile, in 2004 and 2006, respectively, and a Ph.D. degree from the University of Hamburg, Germany, in 2017, working in developmental robotics focused on interactive reinforcement learning.

In 2015, I was a Visiting Researcher within the Emergent Robotics Laboratory, Osaka University and in 2018, a Visiting Researcher within the Polytechnic School, University of Pernambuco, Brazil. I joined UNSW in 2022 as a Lecturer in Cognitive Robotics. My current research interests include reinforcement learning, explainable artificial intelligence, human-robot interaction, artificial neural networks, and psychologically and bio-inspired models.
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Phone
+61 2 9348 0597
E-mail
f.cruz@unsw.edu.au
Location
Ainsworth Building (J17) Room 510J
  • Book Chapters | 2025
    Chen Y; Schomaker L; Cruz F, 2025, 'Boosting Reinforcement Learning Algorithms inÌýContinuous Robotic Reaching Tasks Using Adaptive Potential Functions', in , pp. 52 - 64,
    Book Chapters | 2019
    Cruz F; Dazeley R; Vamplew P, 2019, 'Memory-Based Explainable Reinforcement Learning', in , pp. 66 - 77,
  • Journal articles | 2024
    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,
    Journal articles | 2024
    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,
    Journal articles | 2023
    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,
    Journal articles | 2023
    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,
    Journal articles | 2023
    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,
    Journal articles | 2023
    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,
    Journal articles | 2023
    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,
    Journal articles | 2023
    Cruz F; Solis MA; Navarro-Guerrero N, 2023, 'Editorial: Cognitive inspired aspects of robot learning', Frontiers in Neurorobotics, 17,
    Journal articles | 2023
    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,
    Journal articles | 2023
    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,
    Journal articles | 2023
    Millán-Arias C; Fernandes B; Cruz F, 2023, 'Proxemic behavior in navigation tasks using reinforcement learning', Neural Computing and Applications, 35, pp. 16723 - 16738,
    Journal articles | 2023
    Nguyen HS; Cruz F; Dazeley R, 2023, 'Towards a Broad-Persistent Advising Approach for Deep Interactive Reinforcement Learning in Robotic Environments', Sensors, 23,
    Journal articles | 2023
    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,
    Journal articles | 2022
    Ayala A; Fernandes BJT; Cruz F; Macedo D; Zanchettin C, 2022, 'Convolution Optimization in Fire Classification', IEEE Access, 10, pp. 23642 - 23658,
    Journal articles | 2022
    Azevedo GODA; Fernandes BJT; Silva LHDS; Freire A; de Araújo RP; Cruz F, 2022, 'Event-Based Angular Speed Measurement and Movement Monitoring', Sensors, 22,
    Journal articles | 2022
    Portugal E; Cruz F; Ayala A; Fernandes B, 2022, 'Analysis of Explainable Goal-Driven Reinforcement Learning in a Continuous Simulated Environment', Algorithms, 15,
    Journal articles | 2021
    Ayala A; Ortiz Figueroa T; Fernandes B; Cruz F, 2021, 'Diabetic retinopathy improved detection using deep learning', Applied Sciences (Switzerland), 11,
    Journal articles | 2021
    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,
    Journal articles | 2021
    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,
    Journal articles | 2021
    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,
    Journal articles | 2020
    Contreras R; Ayala A; Cruz F, 2020, 'Unmanned aerial vehicle control through domain-based automatic speech recognition', Computers, 9, pp. 1 - 15,
    Journal articles | 2020
    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,
    Journal articles | 2018
    Cruz F; Magg S; Nagai Y; Wermter S, 2018, 'Improving interactive reinforcement learning: What makes a good teacher?', Connection Science, 30, pp. 306 - 325,
    Journal articles | 2016
    Cruz F; Baraglia J; Nagai Y; Wermter S, 2016, 'Special issue on bio-inspired social robot learning in home scenarios', IEEE Transactions on Cognitive and Developmental Systems, 8, pp. 1 - 2,
    Journal articles | 2016
    Cruz F; Magg S; Weber C; Wermter S, 2016, 'Training Agents With Interactive Reinforcement Learning and Contextual Affordances', IEEE Transactions on Cognitive and Developmental Systems, 8, pp. 271 - 284,
  • Conference Papers | 2024
    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
    Preprints | 2024
    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,
    Preprints | 2024
    Lin Z; Cruz F; Sandoval EB, 2024, Self context-aware emotion perception on human-robot interaction, ,
    Conference Papers | 2024
    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,
    Conference Papers | 2024
    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,
    Preprints | 2024
    Ye WZ; Sandoval EB; Carreno-Medrano P; Cru F, 2024, Contextual Affordances for Safe Exploration in Robotic Scenarios, ,
    Conference Papers | 2023
    Babcinschi M; Cruz F; Duarte N; Santos S; Alves S; Neto P, 2023, 'Intuitive Robot Programming by Capturing Human Manufacturing Skills: A Framework for the Process of Glass Adhesive Application', in Lecture Notes in Mechanical Engineering, pp. 677 - 684,
    Preprints | 2023
    Bernotat J; Jirak D; Sandoval EB; Cruz F; Sciutti A, 2023, Asch Meets HRI: Human Conformity to Robot Groups, ,
    Conference Papers | 2023
    Cruz F; Safeea M; Babcinschi M; Neto P, 2023, 'Design and 3D Printing Fabrication of a Low-Cost Lightweight Robot Manipulator', in Lecture Notes in Mechanical Engineering, pp. 387 - 394,
    Preprints | 2023
    Hashemi M; Darejeh A; Cruz F, 2023, Understanding User Preferences in Explainable Artificial Intelligence: A Survey and a Mapping Function Proposal, ,
    Conference Papers | 2023
    Lin Z; Cruz F; Sandoval EB, 2023, 'Self context-aware emotion perception on human-robot interaction', in Australasian Conference on Robotics and Automation, ACRA
    Conference Papers | 2023
    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,
    Conference Papers | 2023
    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,
    Conference Papers | 2023
    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,
    Preprints | 2022
    Cruz F; Bignold A; Nguyen HS; Dazeley R; Vamplew P, 2022, Broad-persistent Advice for Interactive Reinforcement Learning Scenarios, ,
    Conference Papers | 2022
    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,
    Preprints | 2022
    Cruz F; Young C; Dazeley R; Vamplew P, 2022, Evaluating Human-like Explanations for Robot Actions in Reinforcement Learning Scenarios, ,
    Preprints | 2022
    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, ,
    Conference Papers | 2022
    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,
    Preprints | 2022
    Millán-Arias C; Contreras R; Cruz F; Fernandes B, 2022, Reinforcement Learning for UAV control with Policy and Reward Shaping, ,
    Conference Papers | 2022
    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,
    Preprints | 2022
    Muñoz H; Portugal E; Ayala A; Fernandes B; Cruz F, 2022, Explaining Agent's Decision-making in a Hierarchical Reinforcement Learning Scenario, ,
    Conference Papers | 2022
    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,
    Preprints | 2022
    Schroeter N; Cruz F; Wermter S, 2022, Introspection-based Explainable Reinforcement Learning in Episodic and Non-episodic Scenarios, ,
    Preprints | 2021
    Ayala A; Cruz F; Fernandes B; Dazeley R, 2021, Explainable Deep Reinforcement Learning Using Introspection in a Non-episodic Task, ,
    Preprints | 2021
    Bignold A; Cruz F; Dazeley R; Vamplew P; Foale C, 2021, Persistent Rule-based Interactive Reinforcement Learning, ,
    Preprints | 2021
    Dazeley R; Vamplew P; Cruz F, 2021, Explainable Reinforcement Learning for Broad-XAI: A Conceptual Framework and Survey, ,
    Preprints | 2021
    Dazeley R; Vamplew P; Foale C; Young C; Aryal S; Cruz F, 2021, Levels of explainable artificial intelligence for human-aligned conversational explanations,
    Preprints | 2021
    Millán-Arias C; Fernandes B; Cruz F, 2021, Learning Proxemic Behavior Using Reinforcement Learning with Cognitive Agents, ,
    Preprints | 2021
    Nguyen HS; Cruz F; Dazeley R, 2021, A Broad-persistent Advising Approach for Deep Interactive Reinforcement Learning in Robotic Environments, ,
    Conference Papers | 2020
    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,
    Preprints | 2020
    Ayala A; Cruz F; Campos D; Rubio R; Fernandes B; Dazeley R, 2020, A Comparison of Humanoid Robot Simulators: A Quantitative Approach, ,
    Conference Papers | 2020
    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,
    Preprints | 2020
    Ayala A; Fernandes B; Cruz F; Macêdo D; Oliveira ALI; Zanchettin C, 2020, KutralNet: A Portable Deep Learning Model for Fire Recognition,
    Conference Papers | 2020
    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,
    Preprints | 2020
    Barros P; Tanevska A; Cruz F; Sciutti A, 2020, Moody Learners -- Explaining Competitive Behaviour of Reinforcement Learning Agents, ,
    Preprints | 2020
    Bignold A; Cruz F; Dazeley R; Vamplew P; Foale C, 2020, Human Engagement Providing Evaluative and Informative Advice for Interactive Reinforcement Learning,
    Preprints | 2020
    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,
    Preprints | 2020
    Contreras R; Ayala A; Cruz F, 2020, Unmanned Aerial Vehicle Control Through Domain-based Automatic Speech Recognition,
    Preprints | 2020
    Cruz F; Dazeley R; Vamplew P; Moreira I, 2020, Explainable robotic systems: Understanding goal-driven actions in a reinforcement learning scenario,
    Preprints | 2020
    Cuevas J; Henriquez C; Cruz F, 2020, Towards Assistive Diagnoses in m-Health: A Gray-box Neural Model for Cerebral Autoregulation Index, ,
    Conference Papers | 2020
    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,
    Preprints | 2020
    Moreira I; Rivas J; Cruz F; Dazeley R; Ayala A; Fernandes B, 2020, Deep Reinforcement Learning with Interactive Feedback in a Human-Robot Environment,
    Conference Papers | 2019
    Ayala A; Henríquez C; Cruz F, 2019, 'Reinforcement learning using continuous states and interactive feedback', in ACM International Conference Proceeding Series,
    Conference Papers | 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), 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,
    Conference Papers | 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,
    Preprints | 2019
    Cruz F; Magg S; Nagai Y; Wermter S, 2019, Improving interactive reinforcement learning: What makes a good teacher?,
    Conference Papers | 2019
    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,
    Conference Papers | 2019
    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
    Conference Papers | 2018
    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,
    Conference Papers | 2017
    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,
    Conference Papers | 2016
    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,
    Conference Papers | 2016
    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
    Conference Papers | 2015
    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,
    Conference Papers | 2014
    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,
    Conference Papers | 2010
    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,
    Conference Papers | 2007
    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,
    Conference Papers | 2006
    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