Extremum Seeking Control Systems

Neueste Paper

• Mahalanobis-Guided Latent OOD Detection for Hybrid ES-DRL Control in Time-Varying Systems

  Shaifalee Saxena, Alexander Scheinker · 11. Juni 2026

  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-var…

• Deep Reinforcement Learning for Robotic Manipulation under Distribution Shift with Bounded Extremum Seeking

  Shaifalee Saxena, Rafael Fierro, Alexander Scheinker · 2. April 2026

  Reinforcement learning has shown strong performance in robotic manipulation, but learned policies often degrade in performance when test conditions differ from the training distribution. This limitation is especially important in contact-rich tasks such as pushing and pick-and-place, where changes i…

• Improved Robustness of Deep Reinforcement Learning for Control of Time-Varying Systems by Bounded Extremum Seeking

  Shaifalee Saxena, Alan Williams, Rafael Fierro, Alexander Scheinker · 11. März 2026

  In this paper, we study the use of robust model independent bounded extremum seeking (ES) feedback control to improve the robustness of deep reinforcement learning (DRL) controllers for a class of nonlinear time-varying systems. DRL has the potential to learn from large datasets to quickly control o…