Mahalanobis-Guided Latent OOD Detection for Hybrid ES-DRL Control in Time-Varying Systems
In this paper, we study Mahalanobis-guided latent out-of-distribution (OOD) detection for test-time RL controller switching in nonlinear time-varying systems. RL controllers can quickly control high-dimensional systems within the training distribution, but their performance can degrade when time-varying dynamics produce unseen observations. We consider a combined ES--DRL controller, where RL provides fast in-distribution actions and bounded extremum seeking (ES) provides robust model-independent control under OOD operation. The key challenge is deciding when to switch. We train a variational autoencoder (VAE) on in-distribution beam-profile observations and use Mahalanobis distance in the...
| Authors | Shaifalee Saxena, Alexander Scheinker |
|---|---|
| Primary category | cs.LG |
| Published | 9 June 2026 |
| Last updated at source | 13 June 2026 |
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