INTRODUCTION Advances in vitreoretinal surgery have enabled interventions involving precisions previously deemed infeasible [1], with certified systems appearing on the market, e.g. the Preceyes Surgical System offering 20μm accuracy [2]. Despite their benefits, systems add a delay to the interventional workflow, which may be hindering their widespread adoption. A source of delay is the time required to get the system's micro-precise tool into the eye via the Trocar Entry Point (TEP). We will compare 3 approaches that use a teleoperation of the tool's position and orientation via the combination of co-manipulation and teleoperation. The The goal is to place a 0.5mm stainless steel rod within a task is complete when the participant deems the docking 1 mm custom trocar inserted into the inferior position of sufficient and extrudes the rod into the phantom via the a Bioniko Fundus Advanced Eye Phantom [4].

Difference-in-differences (DiD) is a cornerstone method for causal inference, i.e., the evaluation of the impact of a treatment (such as vaccination) on an outcome of interest (such as mortality), in observational studies, provided that outcomes may be observed both before and after the treatment introduction. In such studies, the observed outcomes of treated individuals before and after a treatment typically do not allow researchers to directly infer the treatment effect. This is due to confounding time trends in the treated individuals' counterfactual outcomes that would have occurred without the treatment. The DiD approach tackles this issue based on a control group not receiving the treatment and the so-called parallel trends assumption, imposing that the treated group's unobserved counterfactual outcomes under non-treatment follow the same observed mean outcome trend of the control group. While the canonical DiD setup considers a binary treatment definition (treatment versus no treatment), in many empirical applications, treatments are continuously distributed - e.g., the vaccination rate in a region. Furthermore, the treatment intensity might vary over time and a strict control group with a zero treatment might not be available across all or even any treatment period, as also argued in de Chaisemartin et al. [2024], who point to taxes, tariffs, or prices as possible treatment variables with strictly non-zero doses.

In this study, we introduce a novel shared-control system for key-hole docking operations, combining a commercial camera with occlusion-robust pose estimation and a hand-eye information fusion technique. This system is used to enhance docking precision and force-compliance safety. To train a hand-eye information fusion network model, we generated a self-supervised dataset using this docking system. After training, our pose estimation method showed improved accuracy compared to traditional methods, including observation-only approaches, hand-eye calibration, and conventional state estimation filters. In real-world phantom experiments, our approach demonstrated its effectiveness with reduced position dispersion (1.23\pm 0.81 mm vs. 2.47 \pm 1.22 mm) and force dispersion (0.78\pm 0.57 N vs. 1.15 \pm 0.97 N) compared to the control group. These advancements in semi-autonomy co-manipulation scenarios enhance interaction and stability. The study presents an anti-interference, steady, and precision solution with potential applications extending beyond laparoscopic surgery to other minimally invasive procedures.

This paper proposes a novel, more computationally efficient method for optimizing robot excitation trajectories for dynamic parameter identification, emphasizing self-collision avoidance. This addresses the system identification challenges for getting high-quality training data associated with co-manipulated robotic arms that can be equipped with a variety of tools, a common scenario in industrial but also clinical and research contexts. Utilizing the Unified Robotics Description Format (URDF) to implement a symbolic Python implementation of the Recursive Newton-Euler Algorithm (RNEA), the approach aids in dynamically estimating parameters such as inertia using regression analyses on data from real robots. The excitation trajectory was evaluated and achieved on par criteria when compared to state-of-the-art reported results which didn't consider self-collision and tool calibrations. Furthermore, physical Human-Robot Interaction (pHRI) admittance control experiments were conducted in a surgical context to evaluate the derived inverse dynamics model showing a 30.1\% workload reduction by the NASA TLX questionnaire.

The LBR-Stack is a collection of packages that simplify the usage and extend the capabilities of KUKA's Fast Robot Interface (FRI) (Schreiber et al., 2010). It is designed for mission critical hard real-time applications. Supported are the KUKA LBR Med7/14 and KUKA LBR IIWA7/14 robots in the Gazebo simulation (Koenig & Howard, 2004) and for communication with real hardware. A demo video can be found here. An overview of the software architecture is shown in Figure 2. At the LBR-Stack's core are two packages: fri: Integration of KUKA's original FRI client library into CMake.

We suggest double/debiased machine learning estimators of direct and indirect quantile treatment effects under a selection-on-observables assumption. This permits disentangling the causal effect of a binary treatment at a specific outcome rank into an indirect component that operates through an intermediate variable called mediator and an (unmediated) direct impact. The proposed method is based on the efficient score functions of the cumulative distribution functions of potential outcomes, which are robust to certain misspecifications of the nuisance parameters, i.e., the outcome, treatment, and mediator models. We estimate these nuisance parameters by machine learning and use cross-fitting to reduce overfitting bias in the estimation of direct and indirect quantile treatment effects. We establish uniform consistency and asymptotic normality of our effect estimators. We also propose a multiplier bootstrap for statistical inference and show the validity of the multiplier bootstrap. Finally, we investigate the finite sample performance of our method in a simulation study and apply it to empirical data from the National Job Corp Study to assess the direct and indirect earnings effects of training.

We apply causal machine learning algorithms to assess the causal effect of a marketing intervention, namely a coupon campaign, on the sales of a retailer. Besides assessing the average impacts of different types of coupons, we also investigate the heterogeneity of causal effects across different subgroups of customers, e.g., between clients with relatively high vs. low prior purchases. Finally, we use optimal policy learning to determine (in a data-driven way) which customer groups should be targeted by the coupon campaign in order to maximize the marketing intervention's effectiveness in terms of sales. We find that only two out of the five coupon categories examined, namely coupons applicable to the product categories of drugstore items and other food, have a statistically significant positive effect on retailer sales. The assessment of group average treatment effects reveals substantial differences in the impact of coupon provision across customer groups, particularly across customer groups as defined by prior purchases at the store, with drugstore coupons being particularly effective among customers with high prior purchases and other food coupons among customers with low prior purchases. Our study provides a use case for the application of causal machine learning in business analytics to evaluate the causal impact of specific firm policies (like marketing campaigns) for decision support.

We assess the demand effects of discounts on train tickets issued by the Swiss Federal Railways, the so-called `supersaver tickets', based on machine learning, a subfield of artificial intelligence. Considering a survey-based sample of buyers of supersaver tickets, we investigate which customer- or trip-related characteristics (including the discount rate) predict buying behavior, namely: booking a trip otherwise not realized by train, buying a first- rather than second-class ticket, or rescheduling a trip (e.g.\ away from rush hours) when being offered a supersaver ticket. Predictive machine learning suggests that customer's age, demand-related information for a specific connection (like departure time and utilization), and the discount level permit forecasting buying behavior to a certain extent. Furthermore, we use causal machine learning to assess the impact of the discount rate on rescheduling a trip, which seems relevant in the light of capacity constraints at rush hours. Assuming that (i) the discount rate is quasi-random conditional on our rich set of characteristics and (ii) the buying decision increases weakly monotonically in the discount rate, we identify the discount rate's effect among `always buyers', who would have traveled even without a discount, based on our survey that asks about customer behavior in the absence of discounts. We find that on average, increasing the discount rate by one percentage point increases the share of rescheduled trips by 0.16 percentage points among always buyers. Investigating effect heterogeneity across observables suggests that the effects are higher for leisure travelers and during peak hours when controlling several other characteristics.

Adding to the literature on the data-driven detection of bid-rigging cartels, we propose a novel approach based on deep learning (a subfield of artificial intelligence) that flags cartel participants based on their pairwise bidding interactions with other firms. More concisely, we combine a so-called convolutional neural network for image recognition with graphs that in a pairwise manner plot the normalized bid values of some reference firm against the normalized bids of any other firms participating in the same tenders as the reference firm. Based on Japanese and Swiss procurement data, we construct such graphs for both collusive and competitive episodes (i.e when a bid-rigging cartel is or is not active) and use a subset of graphs to train the neural network such that it learns distinguishing collusive from competitive bidding patterns. We use the remaining graphs to test the neural network's out-of-sample performance in correctly classifying collusive and competitive bidding interactions. We obtain a very decent average accuracy of around 90% or slightly higher when either applying the method within Japanese, Swiss, or mixed data (in which Swiss and Japanese graphs are pooled). When using data from one country for training to test the trained model's performance in the other country (i.e. transnationally), predictive performance decreases (likely due to institutional differences in procurement procedures across countries), but often remains satisfactorily high. All in all, the generally quite high accuracy of the convolutional neural network despite being trained in a rather small sample of a few 100 graphs points to a large potential of deep learning approaches for flagging and fighting bid-rigging cartels.

We study the impact of fiscal revenue shocks on local fiscal policy. We focus on the very volatile revenues from the immovable property gains tax in the canton of Zurich, Switzerland, and analyze fiscal behavior following large and rare positive and negative revenue shocks. We apply causal machine learning strategies and implement the post-double-selection LASSO estimator to identify the causal effect of revenue shocks on public finances. We show that local policymakers overall predominantly smooth fiscal shocks. However, we also find some patterns consistent with fiscal conservatism, where positive shocks are smoothed, while negative ones are mitigated by spending cuts.