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Soto, Carlos

Publications and source records attributed to Soto, Carlos.

11 records
All sourcesNASA NTRSDOE OSTI
DOE OSTI2026

A Real2Sim Digital Twin Pipeline for Photorealistic Robot Simulation: Evaluating VLA Policy Deployment on a Bimanual Mobile Robot

Digital twins that are automatically constructed from robot sensor data offer a promising pathway for scalable Real2Sim and Sim2Real transfer. However, it remains an open question whether photorealistic reconstruction alone is sufficient to support reliable deployment of vision-language-action (VLA) policies. We present a generative-AI-assisted Real2Sim pipeline that generates simulation-ready digital twins from real-world RGB observations with minimal manual intervention. The pipeline uses prompted segmentation to isolate scene components and a generative 3D model to directly produce simulation assets, eliminating the need for traditional multi-view reconstruction or manual 3D modeling.\r\nTo evaluate simulation fidelity, we deploy and compare policies from two VLA models in both the real robot and the reconstructed\r\nsimulation under identical tasks and initial conditions. We compare joint-level action trajectories and analyze how divergence evolves over time in closed-loop execution. Although the reconstructed environments are visually accurate, we observe increasing trajectory divergence during closedloop operation. These results indicate that photorealistic reconstruction alone is insufficient to preserve closed-loop control behavior\r\nin VLA policies, particularly in contact-rich manipulation settings where small perceptual errors compound over time.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2023

Modeling and Simulation of Fuel Burnup in Pebble Bed Reactors

Modeling and simulation of fuel burnup plays important roles in reactor design, operation, safety, and security as well as nuclear material control and accounting (MC&A) [1]. This task is uniquely challenging for pebble bed reactors (PBR) because the pebbles are continuously added and recycled into the reactor core, and their paths through the core are random. To address this problem, we present two simulation models in this paper. Brookhaven National Laboratory (BNL) developed a simple lattice model of a PBR in Serpent software to generate used pebble isotopic concentrations. The benefit of using Serpent software in this specific application is that it helps streamline the data generation process without having to use too many independent software codes in combination to achieve a simple task. For example, transport, burnup and zero power decay can be implemented in a single pass. Three-dimensional core models were developed using Serpent to simulate the burnup process of 5 subject pebbles starting from fresh till they reach nearly target burnup, with each pebble placed in one of the five artificially designated radial channels to capture the changing neutron spectra along the core radius. Equilibrium isotopic concentrations were assumed in all other pebbles in the core. To provide a verification for the Serpent isotope transmutation and decay results, Oak Ridge National Laboratory (ORNL) performed simple SCALE/ORIGEN calculations using the average neutron spectra calculated by Serpent for each of the 5 pebbles. The 252-group neutron spectra from Serpent were then used by ORIGEN to produce the one-group library for depletion and decay calculations. The isotopic concentrations of a few nuclides of interest and neutron and gamma source terms produced from the ORIGEN calculations were compared with the ones from the Serpent calculations. The model simulated in this work was based on the Pebble Bed Modular Reactor (PBMR)-400 design because many data needed for the simulation such as core power profiles, fuel and reflector temperatures, and equilibrium core composition are publicly available. In this paper, we will compare the results between these two approaches and benchmark the results against a set of well-established simulation results for PBMR-400.

Dim, Odera↗
DOE OSTI2021

Using machine learning to improve efficiency and accuracy of burnup measurements at PBR reactors [Slides]

The outline of the slides include: Motivations of the work; Modeling and simulation; Machine learning model; Results and comparison study with linear regression; and Conclusions. This work was done to help PBR designers and operators understand the burnup measurement better. We look forward to discussing the results in detail with industrial collaborators.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
DOE OSTI2021

VERIFICATION OF TRISO FUEL BURNUP USING MACHINE LEARNING ALGORITHMS

Pebble Bed Reactors are fueled with fuel pebbles that are circulated multiple times through the reactor vessel before discharge. During the normal operation of a PBR, ejected pebbles are returned to the reactor or discharged depending on the fuel burnup and physical condition of the pebbles. The burnup measurement is usually based on detected radiation signatures of fission products accumulated in the pebble fuel over burnup. Previous research has shown that height of photopeaks of fission products, such as 134Cs, 137Cs, 154Eu, etc., can be used independently or in combination to infer or predict the level of burnup in the fuel. However, it remains challenging to measure such complex sources due to self-shielding effects, strong radiation background and intervening materials. Another operational challenge is the required high throughput of burnup measurement, which necessitates limited measurement time and thus impacts quality of measured gamma-ray spectra. Hence, advanced spectral analysis methods are needed to analyze the noisy gamma spectra and predict the burnup values. We propose to use machine learning (ML) method to interpret gamma-ray spectra and predict the burnup values of the pebbles. ML has achieved widespread success and adoption across a few domains that require pattern recognition and analysis in varied data types. In this work, we apply three proven ML approaches - multilayer perceptrons, convolutional neural networks, and transformers - to the task of predicting fuel burnup from measured gamma spectra, and compile a dataset of simulated spectra for training and validation of the ML models. In this paper, we will discuss the network architecture of these three ML approaches and compare the performance of the simplest of these (MLP) to a standard linear regression.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗
DOE OSTI2021

Verification of Triso Fuel Burnup Using Machine Learning Algorithms

Pebble Bed Reactors are fueled with fuel pebbles that are circulated multiple times through the reactor vessel before discharge. During the normal operation of a PBR, ejected pebbles are returned to the reactor or discharged depending on the fuel burnup and physical condition of the pebbles. The burnup measurement is usually based on detected radiation signatures of fission products accumulated in the pebble fuel over burnup. Previous research has shown that height of photopeaks of fission products, such as 134 Cs, 137 Cs, 154 Eu, etc., can be used independently or in combination to infer or predict the level of burnup in the fuel. However, it remains challenging to measure such complex sources due to self-shielding effects, strong radiation background and intervening materials. Another operational challenge is the required high throughput of burnup measurement, which necessitates limited measurement time and thus impacts quality of measured gamma-ray spectra. Hence, advanced spectral analysis methods are needed to analyze the noisy gamma spectra and predict the burnup values. We propose to use machine learning (ML) method to interpret gamma-ray spectra and predict the burnup values of the pebbles. ML has achieved widespread success and adoption across a few domains that require pattern recognition and analysis in varied data types. In this work, we apply three proven ML approaches - multilayer perceptrons, convolutional neural networks, and transformers - to the task of predicting fuel burnup from measured gamma spectra, and compile a dataset of simulated spectra for training and validation of the ML models. In this paper, we will discuss the network architecture of these three ML approaches and compare the performance of the simplest of these (MLP) to a standard linear regression.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
DOE OSTI2021

FAIR data infrastructure and tools for AI-assisted streamflow prediction

Focal Area(s) Areas: We discuss how the integration of AI into Earth Science models can impact streamflow predictions at both the science and data levels. Doing so, we address cross-cutting needs related to the goal of making data FAIR (Findable, Accessible, Interoperable, and Re-usable [1]) for seamless use with Artificial Intelligence/Machine Learning (AI/ML) in Earth System Science at DOE. A novel idea is that AI/ML itself can help with the FAIR data goal and address issues in targeted areas e.g. missing data, data quality and reduction. In addition, the interpretability of results obtained with new AI methods is poised to impact broader scientific challenges in hydrology..

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2020

Supercomputer-Based Ensemble Docking Drug Discovery Pipeline with Application to Covid-19

In this work, we present a supercomputer-driven pipeline for in silico drug discovery using enhanced sampling molecular dynamics (MD) and ensemble docking. Ensemble docking makes use of MD results by docking compound databases into representative protein binding-site conformations, thus taking into account the dynamic properties of the binding sites. We also describe preliminary results obtained for 24 systems involving eight proteins of the proteome of SARS-CoV-2. The MD involves temperature replica exchange enhanced sampling, making use of massively parallel supercomputing to quickly sample the configurational space of protein drug targets. Using the Summit supercomputer at the Oak Ridge National Laboratory, more than 1 ms of enhanced sampling MD can be generated per day. We have ensemble docked repurposing databases to 10 configurations of each of the 24 SARS-CoV-2 systems using AutoDock Vina. Comparison to experiment demonstrates remarkably high hit rates for the top scoring tranches of compounds identified by our ensemble approach. We also demonstrate that, using Autodock-GPU on Summit, it is possible to perform exhaustive docking of one billion compounds in under 24 h. Finally, we discuss preliminary results and planned improvements to the pipeline, including the use of quantum mechanical (QM), machine learning, and artificial intelligence (AI) methods to cluster MD trajectories and rescore docking poses.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2019

Visual Detection with Context for Document Layout Analysis

We present 1) a work in progress method to visually segment key regions of scientific articles using an object detection technique augmented with contextual features, and 2) a novel dataset of region-labeled articles. A continuing challenge in scientific literature mining is the difficulty of consistently extracting high-quality text from formatted PDFs. To address this, we adapt the object-detection technique Faster R-CNN for document layout detection, and incorporate contextual information that leverages the inherently localized nature of article contents to improve the region detection performance. Due to the limited availability of region-labels for scientific articles, we also contribute a novel dataset of region annotations, the first version of which covers 9 region classes and 822 article pages. Initial experimental results demonstrate a 23.9% absolute improvement in mean average precision over the baseline by incorporating contextual features, and a processing speed 14x faster than a text-based technique. Ongoing work on further improvements is also discussed.

97 MATHEMATICS AND COMPUTING↗