arXiv subjects

Martin Huber

Publications and source records attributed to Martin Huber.

At least 37 records · Page 2Linked to original sources

arXiv2025

Catching Bid-rigging Cartels with Graph Attention Neural Networks

We propose a novel application of graph attention networks (GATs), a type of graph neural network enhanced with attention mechanisms, to develop a deep learning algorithm for detecting collusive behavior, leveraging predictive features suggested in prior research. We test our approach on a large dataset covering 13 markets across seven countries. Our results show that predictive models based on GATs, trained on a subset of the markets, can be effectively transferred to other markets, achieving accuracy rates between 80% and 90%, depending on the hyperparameter settings. The best-performing configuration, applied to eight markets from Switzerland and the Japanese region of Okinawa, yields an average accuracy of 91% for cross-market prediction. When extended to 12 markets, the method maintains a strong performance with an average accuracy of 84%, surpassing traditional ensemble approaches in machine learning. These results suggest that GAT-based detection methods offer a promising tool for competition authorities to screen markets for potential cartel activity.

econ.EM↗

arXiv2025

From homemakers to breadwinners? How mandatory kindergarten affects maternal labour market outcomes

The majority of Swiss children attend mandatory and cost-free kindergarten at four. We examine the effect of this policy on maternal labour market outcomes. Using administrative data, we exploit the birthday cut-off for kindergarten entry in the same or in the following year and apply a non-parametric regression discontinuity design (RDD). We find that mandatory kindergarten has a statistically significant positive effect on the labour market attachment of previously non-employed mothers, increasing their employment probability by 4 percentage points. In contrast, there are no significant effects on other groups or in the total sample of mothers.

econ.GN↗

arXiv2025

Evaluating Robotic Approach Techniques for the Insertion of a Straight Instrument into a Vitreoretinal Surgery Trocar

Advances in vitreoretinal robotic surgery enable precise techniques for gene therapies. This study evaluates three robotic approaches using the 7-DoF robotic arm for docking a micro-precise tool to a trocar: fully co-manipulated, hybrid co-manipulated/teleoperated, and hybrid with camera assistance. The fully co-manipulated approach was the fastest but had a 42% success rate. Hybrid methods showed higher success rates (91.6% and 100%) and completed tasks within 2 minutes. NASA Task Load Index (TLX) assessments indicated lower physical demand and effort for hybrid approaches.

cs.RO↗

arXiv2024

Interacting Treatments with Endogenous Takeup

We study causal inference in randomized experiments (or quasi-experiments) following a $2\times 2$ factorial design. There are two treatments, denoted $A$ and $B$, and units are randomly assigned to one of four categories: treatment $A$ alone, treatment $B$ alone, joint treatment, or none. Allowing for endogenous non-compliance with the two binary instruments representing the intended assignment, as well as unrestricted interference across the two treatments, we derive the causal interpretation of various instrumental variable estimands under more general compliance conditions than in the literature. In general, if treatment takeup is driven by both instruments for some units, it becomes difficult to separate treatment interaction from treatment effect heterogeneity. We provide auxiliary conditions and various bounding strategies that may help zero in on causally interesting parameters. As an empirical illustration, we apply our results to a program randomly offering two different treatments, namely tutoring and financial incentives, to first year college students, in order to assess the treatments' effects on academic performance.

econ.EM↗

arXiv2024

LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots

The LBR-Stack is a collection of packages that simplify the usage and extend the capabilities of KUKA's Fast Robot Interface (FRI). It is designed for mission critical hard real-time applications. Supported are the KUKA LBR Med 7/14 and KUKA LBR IIWA 7/14 robots in the Gazebo simulation and for communication with real hardware.

cs.RO↗

arXiv2024

Vision and Contact based Optimal Control for Autonomous Trocar Docking

Future operating theatres will be equipped with robots to perform various surgical tasks including, for example, endoscope control. Human-in-the-loop supervisory control architectures where the surgeon selects from several autonomous sequences is already being successfully applied in preclinical tests. Inserting an endoscope into a trocar or introducer is a key step for every keyhole surgical procedure -- hereafter we will only refer to this device as a "trocar". Our goal is to develop a controller for autonomous trocar docking. Autonomous trocar docking is a version of the peg-in-hole problem. Extensive work in the robotics literature addresses this problem. The peg-in-hole problem has been widely studied in the context of assembly where, typically, the hole is considered static and rigid to interaction. In our case, however, the trocar is not fixed and responds to interaction. We consider a variety of surgical procedures where surgeons will utilize contact between the endoscope and trocar in order to complete the insertion successfully. To the best of our knowledge, we have not found literature that explores this particular generalization of the problem directly. Our primary contribution in this work is an optimal control formulation for automated trocar docking. We use a nonlinear optimization program to model the task, minimizing a cost function subject to constraints to find optimal joint configurations. The controller incorporates a geometric model for insertion and a force-feedback (FF) term to ensure patient safety by preventing excessive interaction forces with the trocar. Experiments, demonstrated on a real hardware lab setup, validate the approach. Our method successfully achieves trocar insertion on our real robot lab setup, and simulation trials demonstrate its ability to reduce interaction forces.

cs.RO↗

arXiv2024

An Introduction to Causal Discovery

In social sciences and economics, causal inference traditionally focuses on assessing the impact of predefined treatments (or interventions) on predefined outcomes, such as the effect of education programs on earnings. Causal discovery, in contrast, aims to uncover causal relationships among multiple variables in a data-driven manner, by investigating statistical associations rather than relying on predefined causal structures. This approach, more common in computer science, seeks to understand causality in an entire system of variables, which can be visualized by causal graphs. This survey provides an introduction to key concepts, algorithms, and applications of causal discovery from the perspectives of economics and social sciences. It covers fundamental concepts like d-separation, causal faithfulness, and Markov equivalence, sketches various algorithms for causal discovery, and discusses the back-door and front-door criteria for identifying causal effects. The survey concludes with more specific examples of causal discovery, e.g. for learning all variables that directly affect an outcome of interest and/or testing identification of causal effects in observational data.

econ.EM↗

arXiv2024

A joint test of unconfoundedness and common trends

This paper introduces an overidentification test of two alternative assumptions to identify the average treatment effect on the treated in a two-period panel data setting: unconfoundedness and common trends. Under the unconfoundedness assumption, treatment assignment and post-treatment outcomes are independent, conditional on control variables and pre-treatment outcomes, which motivates including pre-treatment outcomes in the set of controls. Conversely, under the common trends assumption, the trend and the treatment assignment are independent, conditional on control variables. This motivates employing a Difference-in-Differences (DiD) approach by comparing the differences between pre- and post-treatment outcomes of the treatment and control group. Given the non-nested nature of these assumptions and their often ambiguous plausibility in empirical settings, we propose a joint test using a doubly robust statistic that can be combined with machine learning to control for observed confounders in a data-driven manner. We discuss various causal models that imply the satisfaction of either common trends, unconfoundedness, or both assumptions jointly, and we investigate the finite sample properties of our test through a simulation study. Additionally, we apply the proposed method to five empirical examples using publicly available datasets and find the test to reject the null hypothesis in two cases.

econ.EM↗

arXiv2024

Semi-Autonomous Laparoscopic Robot Docking with Learned Hand-Eye Information Fusion

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.

cs.RO↗

arXiv2024

Excitation Trajectory Optimization for Dynamic Parameter Identification Using Virtual Constraints in Hands-on Robotic System

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.

cs.RO↗

arXiv2023

Machine Learning for Staggered Difference-in-Differences and Dynamic Treatment Effect Heterogeneity

We combine two recently proposed nonparametric difference-in-differences methods, extending them to enable the examination of treatment effect heterogeneity in the staggered adoption setting using machine learning. The proposed method, machine learning difference-in-differences (MLDID), allows for estimation of time-varying conditional average treatment effects on the treated, which can be used to conduct detailed inference on drivers of treatment effect heterogeneity. We perform simulations to evaluate the performance of MLDID and find that it accurately identifies the true predictors of treatment effect heterogeneity. We then use MLDID to evaluate the heterogeneous impacts of Brazil's Family Health Program on infant mortality, and find those in poverty and urban locations experienced the impact of the policy more quickly than other subgroups.

econ.EM↗

arXiv2023

Deep Homography Prediction for Endoscopic Camera Motion Imitation Learning

In this work, we investigate laparoscopic camera motion automation through imitation learning from retrospective videos of laparoscopic interventions. A novel method is introduced that learns to augment a surgeon's behavior in image space through object motion invariant image registration via homographies. Contrary to existing approaches, no geometric assumptions are made and no depth information is necessary, enabling immediate translation to a robotic setup. Deviating from the dominant approach in the literature which consist of following a surgical tool, we do not handcraft the objective and no priors are imposed on the surgical scene, allowing the method to discover unbiased policies. In this new research field, significant improvements are demonstrated over two baselines on the Cholec80 and HeiChole datasets, showcasing an improvement of 47% over camera motion continuation. The method is further shown to indeed predict camera motion correctly on the public motion classification labels of the AutoLaparo dataset. All code is made accessible on GitHub.

eess.IV↗

arXiv2023

Deep Reinforcement Learning Based System for Intraoperative Hyperspectral Video Autofocusing

Hyperspectral imaging (HSI) captures a greater level of spectral detail than traditional optical imaging, making it a potentially valuable intraoperative tool when precise tissue differentiation is essential. Hardware limitations of current optical systems used for handheld real-time video HSI result in a limited focal depth, thereby posing usability issues for integration of the technology into the operating room. This work integrates a focus-tunable liquid lens into a video HSI exoscope, and proposes novel video autofocusing methods based on deep reinforcement learning. A first-of-its-kind robotic focal-time scan was performed to create a realistic and reproducible testing dataset. We benchmarked our proposed autofocus algorithm against traditional policies, and found our novel approach to perform significantly ($p<0.05$) better than traditional techniques ($0.070\pm.098$ mean absolute focal error compared to $0.146\pm.148$). In addition, we performed a blinded usability trial by having two neurosurgeons compare the system with different autofocus policies, and found our novel approach to be the most favourable, making our system a desirable addition for intraoperative HSI.

cs.CV↗

arXiv2023

Doubly Robust Estimation of Direct and Indirect Quantile Treatment Effects with Machine Learning

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.

econ.EM↗

arXiv2022

The finite sample performance of instrumental variable-based estimators of the Local Average Treatment Effect when controlling for covariates

This paper investigates the finite sample performance of a range of parametric, semi-parametric, and non-parametric instrumental variable estimators when controlling for a fixed set of covariates to evaluate the local average treatment effect. Our simulation designs are based on empirical labor market data from the US and vary in several dimensions, including effect heterogeneity, instrument selectivity, instrument strength, outcome distribution, and sample size. Among the estimators and simulations considered, non-parametric estimation based on the random forest (a machine learner controlling for covariates in a data-driven way) performs competitive in terms of the average coverage rates of the (bootstrap-based) 95% confidence intervals, while also being relatively precise. Non-parametric kernel regression as well as certain versions of semi-parametric radius matching on the propensity score, pair matching on the covariates, and inverse probability weighting also have a decent coverage, but are less precise than the random forest-based method. In terms of the average root mean squared error of LATE estimation, kernel regression performs best, closely followed by the random forest method, which has the lowest average absolute bias.

econ.EM↗

arXiv2022

Rapid and robust endoscopic content area estimation: A lean GPU-based pipeline and curated benchmark dataset

Endoscopic content area refers to the informative area enclosed by the dark, non-informative, border regions present in most endoscopic footage. The estimation of the content area is a common task in endoscopic image processing and computer vision pipelines. Despite the apparent simplicity of the problem, several factors make reliable real-time estimation surprisingly challenging. The lack of rigorous investigation into the topic combined with the lack of a common benchmark dataset for this task has been a long-lasting issue in the field. In this paper, we propose two variants of a lean GPU-based computational pipeline combining edge detection and circle fitting. The two variants differ by relying on handcrafted features, and learned features respectively to extract content area edge point candidates. We also present a first-of-its-kind dataset of manually annotated and pseudo-labelled content areas across a range of surgical indications. To encourage further developments, the curated dataset, and an implementation of both algorithms, has been made public (https://doi.org/10.7303/syn32148000, https://github.com/charliebudd/torch-content-area). We compare our proposed algorithm with a state-of-the-art U-Net-based approach and demonstrate significant improvement in terms of both accuracy (Hausdorff distance: 6.3 px versus 118.1 px) and computational time (Average runtime per frame: 0.13 ms versus 11.2 ms).

cs.CV↗

arXiv2022

Testing Monotonicity of Mean Potential Outcomes in a Continuous Treatment with High-Dimensional Data

While most treatment evaluations focus on binary interventions, a growing literature also considers continuously distributed treatments. We propose a Cramér-von Mises-type test for testing whether the mean potential outcome given a specific treatment has a weakly monotonic relationship with the treatment dose under a weak unconfoundedness assumption. In a nonseparable structural model, applying our method amounts to testing monotonicity of the average structural function in the continuous treatment of interest. To flexibly control for a possibly high-dimensional set of covariates in our testing approach, we propose a double debiased machine learning estimator that accounts for covariates in a data-driven way. We show that the proposed test controls asymptotic size and is consistent against any fixed alternative. These theoretical findings are supported by the Monte-Carlo simulations. As an empirical illustration, we apply our test to the Job Corps study and reject a weakly negative relationship between the treatment (hours in academic and vocational training) and labor market performance among relatively low treatment values.

econ.EM↗

arXiv2022

Business analytics meets artificial intelligence: Assessing the demand effects of discounts on Swiss train tickets

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.

econ.GN↗