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This research proposes a hybrid control strategy that combines Reinforcement Learning with Extremum Seeking, using Mahalanobis distance in a VAE latent space to detect out-of-distribution states in real-time. The method enables safe switching between fast RL actions and robust model-independent control specifically for nonlinear, time-varying systems like particle accelerators. It addresses a critical gap in deploying RL in dynamic environments by providing an interpretable mechanism to handle unseen operational conditions without retraining.
Mahalanobis-Guided Latent OOD Detection for Hybrid ES-DRL Control in Time-Varying Systems
arXiv:2606.11474v1 Announce Type: new Abstract: 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 VAE latent space to detect OOD beam profiles at test time. This OOD decision sets a binary switch that selects either the RL controller or the ES controller. We evaluate the approach in safety-critical particle accelerator control. In this setting, spatial magnet motion creates OOD beam profiles that were not seen during RL training. Visualization of the VAE latent space shows that the proposed method identifies this OOD scenario and provides an interpretable signal for switching between RL and ES in the combined controller.
Abstract: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 VAE latent space to detect OOD beam profiles at test time. This OOD decision sets a binary switch that selects either the RL controller or the ES controller. We evaluate the approach in safety-critical particle accelerator control. In this setting, spatial magnet motion creates OOD beam profiles that were not seen during RL training. Visualization of the VAE latent space shows that the proposed method identifies this OOD scenario and provides an interpretable signal for switching between RL and ES in the combined controller.
Machine Learning (cs.LG); Systems and Control (eess.SY); Accelerator Physics (physics.acc-ph)
arXiv:2606.11474 [cs.LG]
(or arXiv:2606.11474v1 [cs.LG] for this version)
https://doi.org/10.48550/arXiv.2606.11474 Focus to learn more arXiv-issued DOI via DataCite (pending registration)
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