Bilge Mutlu

Bilge Mutlu
University of Wisconsin–Madison | UW · Department of Computer Sciences

PhD, Carnegie Mellon University, 2009

About

206
Publications
92,781
Reads
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6,517
Citations
Introduction
My research program builds human-centered methods and principles for designing robotic technologies that help people communicate, work, and pursue personal goals and draws on a transdisciplinary design research process that combines aspects of design, computer science, and social and cognitive sciences.
Additional affiliations
August 2009 - present
University of Wisconsin–Madison
Position
  • Professor (Associate)
August 2004 - May 2009
Carnegie Mellon University
Position
  • Research Assistant
Education
August 2004 - May 2009
Carnegie Mellon University
Field of study
  • Human-Computer Interaction

Publications

Publications (206)
Preprint
Full-text available
Research in child-robot interactions suggests that engaging in "care-taking" of a social robot, such as tucking the robot in at night, can strengthen relationships formed between children and robots. In this work, we aim to better understand and explore the design space of caretaking activities with 10 children, aged 8-12 from eight families, invol...
Presentation
Full-text available
Conference talk recording for IDC22 conference
Preprint
Research in child-robot interactions suggests that engaging in "care-taking" of a social robot, such as tucking the robot in at night, can strengthen relationships formed between children and robots. In this work, we aim to better understand and explore the design space of caretaking activities with 10 children, aged 8--12 from eight families, invo...
Preprint
Robots hold significant promise to assist with providing care to an aging population and to help overcome increasing caregiver demands. Although a large body of research has explored robotic assistance for individuals with disabilities and age-related challenges, this past work focuses primarily on building robotic capabilities for assistance and h...
Preprint
Full-text available
Social robots are emerging as learning companions for children, and research shows that they facilitate the development of interest and learning even through brief interactions. However, little is known about how such technologies might support these goals in authentic environments over long-term periods of use and interaction. We designed a learni...
Article
Objective: The effect of camera viewpoint was studied when performing visually obstructed psychomotor targeting tasks. Background: Previous research in laparoscopy and robotic teleoperation found that complex perceptual-motor adaptations associated with misaligned viewpoints corresponded to degraded performance in manipulation. Because optimal c...
Article
Background Voice-controlled smart speakers and displays have a unique but unproven potential for delivering eHealth interventions. Many laptop- and smartphone-based interventions have been shown to improve multiple outcomes, but voice-controlled platforms have not been tested in large-scale rigorous trials. Older adults with multiple chronic health...
Preprint
Objective: The effect of camera viewpoint was studied when performing visually obstructed psychomotor targeting tasks. Background: Previous research in laparoscopy and robotic teleoperation found that complex perceptual-motor adaptations associated with misaligned viewpoints corresponded to degraded performance in manipulation. Because optimal came...
Preprint
Cooperating with another person requires communicating intentions and coordinating behavior. People often accomplish these tasks using spoken language, but verbal communication is not always available. Here, we test the hypothesis that, to establish successful cooperative interaction, people compensate for the temporary loss of one means, verbal co...
Preprint
Conversational interfaces increasingly rely on human-like dialogue to offer a natural experience. However, relying on dialogue involving multiple exchanges for even simple tasks can overburden users, particularly older adults. In this paper, we explored the use of politeness theory in conversation design to alleviate this burden and improve user ex...
Article
Cooperating with another person requires communicating intentions and coordinating behavior. People often accomplish these tasks using spoken language, but verbal communication is not always available. Here, we test the hypothesis that, to establish successful cooperative interaction, people compensate for the temporary loss of one means, verbal co...
Preprint
Remotely programming robots to execute tasks often relies on registering objects of interest in the robot's environment. Frequently, these tasks involve articulating objects such as opening or closing a valve. However, existing human-in-the-loop methods for registering objects do not consider articulations and the corresponding impact to the geomet...
Article
Objective Trade-offs between productivity, physical workload (PWL), and mental workload (MWL) were studied when integrating collaborative robots (cobots) into existing manual work by optimizing the allocation of tasks. Background As cobots become more widely introduced in the workplace and their capabilities greatly improved, there is a need to co...
Conference Paper
Full-text available
The introduction of collaborative robots (cobots) into the workplace has presented both opportunities and challenges for those seeking to utilize their functionality. Prior research has shown that despite the capabilities afforded by cobots, there is a disconnect between those capabilities and the applications that they currently are deployed in, p...
Preprint
BACKGROUND Voice-controlled smart speakers and displays have unique but unproven potential for delivering eHealth interventions. Many laptop- and smartphone-based interventions have been shown to improve multiple outcomes, but voice-controlled platforms have not been tested in large-scale, rigorous trials. Older adults with multiple chronic health...
Preprint
Full-text available
Social robots are increasingly introduced into children's lives as educational and social companions, yet little is known about how these products might best be introduced to their environments. The emergence of the "unboxing" phenomenon in media suggests that introduction is key to technology adoption where initial impressions are made. To better...
Preprint
As social robots become increasingly prevalent in day-to-day environments, they will participate in conversations and appropriately manage the information shared with them. However, little is known about how robots might appropriately discern the sensitivity of information, which has major implications for human-robot trust. As a first step to addr...
Article
Technology can facilitate communication across large distances. Although today’s technologies enable partners to convey rich verbal and non-verbal information, past research suggests that geographic distance can still hamper remote collaboration. In this study, we investigate whether a telepresence robot, by offering an embodiment of the user, allo...
Article
Worker posture, task time and performance are often affected when one-handed manual dexterous tasks are performed in small overhead spaces under an obscured view. A common method used for supplementing visual feedback in these cases is a hand-held telescopic mirror, but that involves working with both arms extended overhead, and is often accompanie...
Preprint
Socially interactive agents (SIAs) are no longer mere visions for future user interfaces, as 20 years of research and technology development has enabled the use of virtual and physical agents in day-to-day interfaces and environments. This chapter of the ACM "The Handbook on Socially Interactive Agents" reviews research on and technologies involvin...
Preprint
Remote teleoperation of robots can broaden the reach of domain specialists across a wide range of industries such as home maintenance, health care, light manufacturing, and construction. However, current direct control methods are impractical, and existing tools for programming robot remotely have focused on users with significant robotic experienc...
Article
Full-text available
Remote teleoperation of robots can broaden the reach of domain specialists across a wide range of industries such as home maintenance, health care, light manufacturing, and construction. However, current direct control methods are impractical, and existing tools for programming robot remotely have focused on users with significant robotic experienc...
Article
Full-text available
Background Individuals with a history of traumatic brain injury (TBI) report fewer social contacts, less social participation, and more social isolation than noninjured peers. Cognitive-communication disabilities may prevent individuals with TBI from accessing the opportunities for social connection afforded by computer-mediated communication, as i...
Preprint
Manipulations of a constrained object often use a non-rigid grasp that allows the object to rotate relative to the end effector. This orientation slip strategy is often present in natural human demonstrations, yet it is generally overlooked in methods to identify constraints from such demonstrations. In this paper, we present a method to model and...
Preprint
We present situated live programming for human-robot collaboration, an approach that enables users with limited programming experience to program collaborative applications for human-robot interaction. Allowing end users, such as shop floor workers, to program collaborative robots themselves would make it easy to "retask" robots from one process to...
Preprint
Full-text available
Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a range of task variables (e.g., spinning speed of a tool, applied force, path) to address the specific needs of a...
Article
italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">C orrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a range of task...
Preprint
In this work, we present a novel sampling-based path planning method, called SPRINT. The method finds solutions for high dimensional path planning problems quickly and robustly. Its efficiency comes from minimizing the number of collision check samples. This reduction in sampling relies on heuristics that predict the likelihood that samples will be...
Preprint
In this paper, we present a meta-algorithm intended to accelerate many existing path optimization algorithms. The central idea of our work is to strategically break up a waypoint path into consecutive groupings called "pods," then optimize over various pods concurrently using parallel processing. Each pod is assigned a color, either blue or red, an...
Conference Paper
Computational notebooks help data analysts analyze and visualize datasets, and share analysis procedures and outputs. However, notebooks typically combine code (e.g., Python scripts), notes, and outputs (e.g., tables, graphs). The combination of disparate materials is known to hinder the comprehension of notebooks, making it difficult for analysts...
Article
In this work, we present a novel sampling-based path planning method, called SPRINT . The method finds solutions for high dimensional path planning problems quickly and robustly. Its efficiency comes from minimizing the number of collision check samples. This reduction in sampling relies on heuristics that predict the likelihood that samples will...
Article
Many tasks, particularly those involving interaction with the environment, are characterized by high variability, making robotic autonomy difficult. One flexible solution is to introduce the input of a human with superior experience and cognitive abilities as part of a shared autonomy policy. However, current methods for shared autonomy are not des...
Preprint
In this work, we present a per-instant pose optimization method that can generate configurations that achieve specified pose or motion objectives as best as possible over a sequence of solutions, while also simultaneously avoiding collisions with static or dynamic obstacles in the environment. We cast our method as a multi-objective, non-linear con...
Preprint
Full-text available
Many tasks, particularly those involving interaction with the environment, are characterized by high variability, making robotic autonomy difficult. One flexible solution is to introduce the input of a human with superior experience and cognitive abilities as part of a shared autonomy policy. However, current methods for shared autonomy are not des...
Chapter
Full-text available
Rapid advances in technology also come with increased training needs for people who engineer and interact with these technologies. One such technology is collaborative robots, cobots, which are designed to be safer and easier to use than their traditional robotic counterparts. However, there have been few studies of how people use cobots and even f...
Preprint
BACKGROUND Individuals with a history of traumatic brain injury (TBI) report fewer social contacts, less social participation, and more social isolation than noninjured peers. Cognitive-communication disabilities may prevent individuals with TBI from accessing the opportunities for social connection afforded by computer-mediated communication, as i...
Article
Full-text available
Virtual and physical embodiments of interactive artificial agents utilize similar core technologies for perception, planning, and interaction and engage with people in similar ways. Thus, designers have typically considered these embodiments to be broadly interchangeable, and the choice of embodiment primarily depends on the practical demands of an...
Conference Paper
Collaborative robots promise to transform work across many industries and promote human-robot teaming as a novel paradigm. However, realizing this promise requires the understanding of how existing tasks, developed for and performed by humans, can be effectively translated into tasks that robots can singularly or human-robot teams can collaborative...
Article
Full-text available
We present a real-time motion-synthesis method for robot manipulators, called RelaxedIK, that is able to not only accurately match end-effector pose goals as done by traditional IK solvers, but also create smooth, feasible motions that avoid joint-space discontinuities, self-collisions, and kinematic singularities. To achieve these objectives on-th...
Presentation
Full-text available
Child-robot interactions in educational, developmental, and health domains are widely explored, but little is known about how families perceive the presence of a social robot in their home environment and its participation in day-to-day activities. To close this gap, we conducted a participatory design (PD) study with six families, with children ag...
Conference Paper
Full-text available
Child-robot interactions in educational, developmental, and health domains are widely explored, but little is known about how families perceive the presence of a social robot in their home environment and its participation in day-today activities. To close this gap, we conducted a participatory design (PD) study with six families, with children age...
Article
Full-text available
A growing body of literature has examined sex differences in a variety of outcomes from moderate-severe traumatic brain injury (TBI), including outcomes for social functioning. Social functioning is an area in which adults with TBI have significant long-term challenges (1–4), and a better understanding of sex and gender differences in this domain m...
Preprint
Physical embodiment is a required component for robots that are structurally coupled with their real-world environments. However, most socially interactive robots do not need to physically interact with their environments in order to perform their tasks. When and why should embodied robots be used instead of simpler and cheaper virtual agents? This...
Conference Paper
Designing and implementing human-robot interactions requires numerous skills, from having a rich understanding of social interactions and the capacity to articulate their subtle requirements, to the ability to then program a social robot with the many facets of such a complex interaction. Although designers are best suited to develop and implement...
Conference Paper
Full-text available
Education research offers strong evidence that social supports, learning interventions situated in meaningful social interaction, during learning can aid in developing interest and promote understanding for the content. However, children are often asked to complete homework tasks in isolation. To address this discrepancy, we build on prior work in...
Article
Full-text available
Human-centered environments provide affordances for and require the use of two-handed, or bimanual, manipulations. Robots designed to function in, and physically interact with, these environments have not been able to meet these requirements because standard bimanual control approaches have not accommodated the diverse, dynamic, and intricate coord...
Article
Background: Adults with traumatic brain injury (TBI) report loss of friendship and reduced social participation after injury, but there is limited information regarding quantity of friends and methods of communication. Our objective was to characterize friendship networks, social participation, and methods of communication, including computer-medi...
Article
Full-text available
Facial affect recognition deficits following traumatic brain injury (TBI) have been well documented, as has their relationship with impairment in several other cognitive domains. However, little is known about the neurobiological mechanisms underlying affect recognition deficits, in particular mechanisms underlying different aspects of facial affec...
Preprint
Human demonstrations are important in a range of robotics applications, and are created with a variety of input methods. However, the design space for these input methods has not been extensively studied. In this paper, focusing on demonstrations of hand-scale object manipulation tasks to robot arms with two-finger grippers, we identify distinct us...
Book
Socially interactive robots provide entertainment, information, and/or assistance; this last category is typically encompassed by socially assistive robotics. In all cases, such robots can achieve their primary functions without performing functional physical work. This monograph reviews the existing work that explores the role of physical embodime...
Article
Objectives: The objective of this study was to examine the effects of traumatic brain injury (TBI) and age on facial emotion recognition abilities in adults. Age and TBI were expected to have negative effects on emotion recognition and a TBI by age interaction was hypothesized such that older adults with TBI would have the lowest emotion recogniti...