因果推理在人类如何理解世界并在日常生活中做出决策中具有必不可少的作用。虽然20美元的$ Century Science是因为使因果的主张过于强大且无法实现，但第21美元的$ Century是由因果关系的数学化和引入非确定性原因概念的因果关系的重返标志的。 \ cite {illari2011look}。除了其流行病学，政治和社会科学方面的常见用例外，因果关系对于在法律和日常意义上评估自动决定的公平性至关重要。我们提供了为什么因果关系对于公平评估特别重要的论点和例子。特别是，我们指出了非因果预测的社会影响以及依赖因果主张的法律反歧视过程。最后，我们讨论了在实际情况以及可能的解决方案中应用因果关系的挑战和局限性。

考虑基于AI和ML的决策对这些新兴技术的安全和可接受的使用的决策的社会和道德后果至关重要。公平，特别是保证ML决定不会导致对个人或少数群体的歧视。使用因果关系，可以更好地实现和衡量可靠的公平/歧视，从而更好地实现了敏感属性（例如性别，种族，宗教等）之间的因果关系，仅仅是仅仅是关联，例如性别，种族，宗教等（例如，雇用工作，贷款授予等） ）。然而，对因果关系解决公平性的最大障碍是因果模型的不可用（通常表示为因果图）。文献中现有的因果关系方法并不能解决此问题，并假设可获得因果模型。在本文中，我们没有做出这样的假设，并且我们回顾了从可观察数据中发现因果关系的主要算法。这项研究的重点是因果发现及其对公平性的影响。特别是，我们展示了不同的因果发现方法如何导致不同的因果模型，最重要的是，即使因果模型之间的轻微差异如何对公平/歧视结论产生重大影响。通过使用合成和标准公平基准数据集的经验分析来巩固这些结果。这项研究的主要目标是强调因果关系使用因果关系适当解决公平性的因果发现步骤的重要性。

机器学习算法通常会对少数族裔和代表性不足的子人群产生偏见的结果/预测。因此，公平是基于机器学习技术的大规模应用的重要要求。最常用的公平概念（例如统计平等，均衡的几率，预测奇偶等）是观察性的，并且依赖于变量之间的仅相关性。在统计异常（例如辛普森或伯克森的悖论）的情况下，这些概念无法识别偏差。基于因果关系的公平概念（例如反事实公平，无歧视歧视等）对此类异常免疫，因此更可靠地评估公平性。但是，基于因果关系的公平概念的问题是，它们是根据数量（例如因果，反事实和特定于路径特定效应）定义的，这些概念并非总是可衡量的。这被称为可识别性问题，是因果推理文献中大量工作的主题。本文是对机器学习公平性特别相关的主要可识别性结果的汇编。使用大量示例和因果图说明了结果。公平研究人员，从业人员和政策制定者正在考虑使用基于因果关系的公平概念，并说明主要可识别性结果，这本文特别感兴趣。

解决公平问题对于安全使用机器学习算法来支持对人们的生活产生关键影响的决策，例如雇用工作，儿童虐待，疾病诊断，贷款授予等。过去十年，例如统计奇偶校验和均衡的赔率。然而，最新的公平概念是基于因果关系的，反映了现在广泛接受的想法，即使用因果关系对于适当解决公平问题是必要的。本文研究了基于因果关系的公平概念的详尽清单，并研究了其在现实情况下的适用性。由于大多数基于因果关系的公平概念都是根据不可观察的数量（例如干预措施和反事实）来定义的，因此它们在实践中的部署需要使用观察数据来计算或估计这些数量。本文提供了有关从观察数据（包括可识别性（Pearl的SCM框架））和估计（潜在结果框架）中推断出因果量的不同方法的全面报告。该调查论文的主要贡献是（1）指南，旨在在特定的现实情况下帮助选择合适的公平概念，以及（2）根据Pearl的因果关系阶梯的公平概念的排名，表明它很难部署。实践中的每个概念。

公平性是确保机器学习（ML）预测系统不会歧视特定个人或整个子人群（尤其是少数族裔）的重要要求。鉴于观察公平概念的固有主观性，文献中已经引入了几种公平概念。本文是一项调查，说明了通过大量示例和场景之间的公平概念之间的微妙之处。此外，与文献中的其他调查不同，它解决了以下问题：哪种公平概念最适合给定的现实世界情景，为什么？我们试图回答这个问题的尝试包括（1）确定手头现实世界情景的一组与公平相关的特征，（2）分析每个公平概念的行为，然后（3）适合这两个元素以推荐每个特定设置中最合适的公平概念。结果总结在决策图中可以由从业者和政策制定者使用，以导航相对较大的ML目录。

Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On the contrary, for multi-link systems, the natural system dynamics might even work against the actual goal. With the introduction of variable stiffness actuators, this problem has been partially addressed. With a suitable optimal control strategy, the approximate decoupling of the motor from the link can be achieved to maximize the energy transfer into the distal link prior to launch. However, such continuous stiffness variation is complex and typically leads to oscillatory swing-up motions instead of clear launch sequences. To circumvent this issue, we investigate decoupling for speed maximization with a dedicated novel actuator concept denoted Bi-Stiffness Actuation. With this, it is possible to fully decouple the link from the joint mechanism by a switch-and-hold clutch and simultaneously keep the elastic energy stored. We show that with this novel paradigm, it is not only possible to reach the same optimal performance as with power-equivalent variable stiffness actuation, but even directly control the energy transfer timing. This is a major step forward compared to previous optimal control approaches, which rely on optimizing the full time-series control input.

Tumor-stroma ratio (TSR) is a prognostic factor for many types of solid tumors. In this study, we propose a method for automated estimation of TSR from histopathological images of colorectal cancer. The method is based on convolutional neural networks which were trained to classify colorectal cancer tissue in hematoxylin-eosin stained samples into three classes: stroma, tumor and other. The models were trained using a data set that consists of 1343 whole slide images. Three different training setups were applied with a transfer learning approach using domain-specific data i.e. an external colorectal cancer histopathological data set. The three most accurate models were chosen as a classifier, TSR values were predicted and the results were compared to a visual TSR estimation made by a pathologist. The results suggest that classification accuracy does not improve when domain-specific data are used in the pre-training of the convolutional neural network models in the task at hand. Classification accuracy for stroma, tumor and other reached 96.1$\%$ on an independent test set. Among the three classes the best model gained the highest accuracy (99.3$\%$) for class tumor. When TSR was predicted with the best model, the correlation between the predicted values and values estimated by an experienced pathologist was 0.57. Further research is needed to study associations between computationally predicted TSR values and other clinicopathological factors of colorectal cancer and the overall survival of the patients.

In this paper a global reactive motion planning framework for robotic manipulators in complex dynamic environments is presented. In particular, the circular field predictions (CFP) planner from Becker et al. (2021) is extended to ensure obstacle avoidance of the whole structure of a robotic manipulator. Towards this end, a motion planning framework is developed that leverages global information about promising avoidance directions from arbitrary configuration space motion planners, resulting in improved global trajectories while reactively avoiding dynamic obstacles and decreasing the required computational power. The resulting motion planning framework is tested in multiple simulations with complex and dynamic obstacles and demonstrates great potential compared to existing motion planning approaches.

This paper presents the OPUS ecosystem with a focus on the development of open machine translation models and tools, and their integration into end-user applications, development platforms and professional workflows. We discuss our on-going mission of increasing language coverage and translation quality, and also describe on-going work on the development of modular translation models and speed-optimized compact solutions for real-time translation on regular desktops and small devices.

Quantum machine learning techniques are commonly considered one of the most promising candidates for demonstrating practical quantum advantage. In particular, quantum kernel methods have been demonstrated to be able to learn certain classically intractable functions efficiently if the kernel is well-aligned with the target function. In the more general case, quantum kernels are known to suffer from exponential "flattening" of the spectrum as the number of qubits grows, preventing generalization and necessitating the control of the inductive bias by hyperparameters. We show that the general-purpose hyperparameter tuning techniques proposed to improve the generalization of quantum kernels lead to the kernel becoming well-approximated by a classical kernel, removing the possibility of quantum advantage. We provide extensive numerical evidence for this phenomenon utilizing multiple previously studied quantum feature maps and both synthetic and real data. Our results show that unless novel techniques are developed to control the inductive bias of quantum kernels, they are unlikely to provide a quantum advantage on classical data.