Publications

​​This white paper describes ongoing work and portfolios at Sandia National Laboratories that could be leveraged in AI for electric grid applications. This document highlights several areas where Sandia has developed capabilities that can be used in future work. These areas are human factors, uncertainty quantification, explainability, and trust maturity frameworks.

Accurate self-motion estimation is critical for various navigational tasks in mobile robotics. Optic flow provides a means to estimate self-motion using a camera sensor and is particularly valuable in GPS- and radio-denied environments. The present study investigates the influence of different activation functions—ReLU, leaky ReLU, GELU, and Mish—on the accuracy, robustness, and encoding properties of convolutional neural networks (CNNs) and multi-layer perceptrons (MLPs) trained to estimate self-motion from optic flow. Our results demonstrate that networks with ReLU and leaky ReLU activation functions not only achieved superior accuracy in self-motion estimation from novel optic flow patterns but also exhibited greater robustness under challenging conditions. The advantages offered by ReLU and leaky ReLU may stem from their ability to induce sparser representations than GELU and Mish do. Our work characterizes the encoding of optic flow in neural networks and highlights how the sparseness induced by ReLU may enhance robust and accurate self-motion estimation from optic flow.

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We present a high-level architecture for how artificial intelligences might advance and accumulate scientific and technological knowledge, inspired by emerging perspectives on how human intelligences advance and accumulate such knowledge. Agents advance knowledge by exercising a technoscientific method—an interacting combination of scientific and engineering methods. The technoscientific method maximizes a quantity we call “useful learning” via more-creative implausible utility (including the “aha!” moments of discovery), as well as via less-creative plausible utility. Society accumulates the knowledge advanced by agents so that other agents can incorporate and build on to make further advances. The proposed architecture is challenging but potentially complete: its execution might in principle enable artificial intelligences to advance and accumulate an equivalent of the full range of human scientific and technological knowledge.

Accuracy-optimized convolutional neural networks (CNNs) have emerged as highly effective models at predicting neural responses in brain areas along the primate ventral stream, but it is largely unknown whether they effectively model neurons in the complementary primate dorsal stream. We explored how well CNNs model the optic flow tuning properties of neurons in dorsal area MSTd and we compared our results with the Non-Negative Matrix Factorization (NNMF) model, which successfully models many tuning properties of MSTd neurons. To better understand the role of computational properties in the NNMF model that give rise to optic flow tuning that resembles that of MSTd neurons, we created additional CNN model variants that implement key NNMF constraints – non-negative weights and sparse coding of optic flow. While the CNNs and NNMF models both accurately estimate the observer's self-motion from purely translational or rotational optic flow, NNMF and the CNNs with nonnegative weights yield substantially less accurate estimates than the other CNNs when tested on more complex optic flow that combines observer translation and rotation. Despite its poor accuracy, NNMF gives rise to tuning properties that align more closely with those observed in primate MSTd than any of the accuracy-optimized CNNs. This work offers a step toward a deeper understanding of the computational properties and constraints that describe the optic flow tuning of primate area MSTd.

It is essential to Sandia National Laboratory’s continued success in scientific and technological advances and mission delivery to embrace a hybrid workforce culture under which current and future employees can thrive. This report focuses on the findings of the Hybrid Work Team for the Center for Computing Research, which met weekly from March to June 2023 and conducted a survey across the Center at Sandia. Conclusions in this report are drawn from the 9 authors of this report, which comprises the Hybrid Work Team, and 15 responses to a center-wide survey, as well as numerous conversations with colleagues. A major finding was widespread dissatisfaction with the quantity, execution, and tooling surrounding formal meetings with remote participants. While there was consensus that remote work enables people to produce high quality individual and technical work, there was also consensus that there was widespread social disconnect, with particular concern about hires that were made after the onset of the Covid-19 pandemic. There were many concerns about tooling and policy to facilitate remote collaboration both within Sandia and with its external collaborators. This report includes recommendations for mitigating these problems. For problems for which obvious recommendations cannot be made, ideas of what a successful solution might look like are presented.

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