# Generalizing HVAC Control With Domain Randomized Reinforcement Learning

arXiv: https://arxiv.org/abs/2609.05822 · HTML: https://mlsanity.com/paper/2609.05822/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in RL for energy, networks and operations, one of 15 directions in Deep reinforcement learning methods.
- Builds on 2 of its 7 references that are in the map.
- First posted on arXiv 5 Sep 2026.

## Placed in

- Deep reinforcement learning methods / [RL for energy, networks and operations](https://mlsanity.com/deeprl/rl-for-energy-networks-and-operations/)

## Builds on (most cited first, 2 of 2)

- [Solving Rubik's Cube with a Robot Hand](https://mlsanity.com/paper/1910.07113/) (2019)
- [Flow-based Domain Randomization for Learning and Sequencing Robotic Skills](https://mlsanity.com/paper/2502.01800/) (2025)

## Abstract (arXiv)

Deploying advanced HVAC (Heating, Ventilation and Air Conditioning) controllers at scale remains difficult because performance often depends on accurate building models or per-site retuning. We propose NOMAD-RL (Neural Online Meta-Adaptation for Dynamics), a general-purpose Reinforcement Learning (RL) controller designed to transfer across heterogeneous thermal zones through a universal, non-invasive thermostat interface. The controller acts on temperature setpoints from zone measurements and forecasts, while a recurrent policy supports online adaptation under partial observability. Our main contribution is an adaptive domain randomization scheme based on physics-informed normalizing flows, which models correlated and multimodal distributions of thermal-zone parameters while maintaining physical plausibility and controllability. This produces a realistic and progressively adaptive training curriculum that improves transfer across buildings. We evaluate NOMAD-RL against a constant-setpoint PID controller, RL without domain randomization, and MPC in single- and multi-zone settings. NOMAD-RL consistently outperforms the PID and non-randomized RL baselines, and approaches the performance of a well-tuned MPC, especially in the more challenging multi-zone case. These results highlight the potential of adaptive, physics-informed domain randomization for robust and transferable HVAC control.