Searcharxiv⌕ Search

subject

cs.SY

cs.SY: explore 409 source-linked works published from 2017 to 2026, with original documents and citations.

This collection is a preview while coverage and quality are evaluated.

Search within this collection

Coverage and selection

Includes records with this source-supplied label or an explicit phrase match in their metadata. Matches indicate a mention, not proof that a paper uses a method or tests a material. Source versions are consolidated by DOI.

Sources: arxiv. Collection updated 2026-09-16. Counts describe this index, not the complete source archives.

A Unified Perspective on Conformal Prediction and Wasserstein Distributionally Robust Optimization for Uncertainty Quantification

Uncertainty quantification from finite data is central to machine learning, optimization, and automation systems, where decisions must remain reliable under limited samples and test-time distribution shift. Conformal prediction (CP) and distributionally robust optimization (DRO) offer two complementary approaches: CP constructs data-dependent prediction sets with distribution-free finite-sample validity under exchangeability, while DRO optimizes worst-case performance over an ambiguity set around an empirical distribution. We develop a unified probabilistic perspective on CP and DRO by viewing both as ways to turn finite calibration data into a data-dependent quantile estimator that a test score falls below with high probability. From this perspective, CP and DRO correct the empirical quantile along two coordinates of the same family of estimators: CP inflates the quantile level, whereas DRO shifts the quantile value through an ambiguity radius. Both methods provide the same calibration-conditional guarantee for the true distribution, requiring the target coverage to hold with high probability over the calibration sample. Their constructions differ, however: CP uses a closed-form, distribution-free level correction, while DRO uses a value-space correction whose certified radius depends on properties of the unknown distribution and additionally guarantees coverage uniformly over the ambiguity set. This distinction emerges in the tails of the score distribution. Because CP relies on sparse upper-tail order statistics of the calibration samples, its level inflation barely moves the estimator when those samples are dense near the target quantile but overshoots when they are sparse, whereas a well-chosen DRO radius corrects in value space and may avoid this overshoot.

math.OC↗

SymVD: Symmetric Vision Language Action Distillation for Robot Manipulation

While pretrained Vision-Language-Action (VLA) models offer broad generalization capabilities in robotic manipulation tasks, adapting them to real-world environments or handling task shifts often requires substantial additional data and retraining. To address this, we propose Symmetric VLA Distillation (SymVD), a distillation framework that transfers knowledge from a large VLA teacher to a compact student policy by explicitly exploiting geometric symmetries in manipulation tasks, such as rotational and reflectional invariance. SymVD employs an equivariant actor-critic architecture and trains the student using a symmetry-aware objective that aligns with teacher actions under group-invariant properties. We demonstrate that by enforcing the policy to respect equivariance, SymVD reduces redundant exploration across configurations related by group transformations and improves sample efficiency during distillation. To further stabilize and improve distillation, SymVD introduces an adaptive weighting scheme that dynamically balances the distillation objective and reinforcement learning updates based on training progress, enabling robust transfer even when the teacher signal is imperfect or misaligned. Experimental results on robotic manipulation tasks demonstrate that SymVD consistently improves over standard distillation and also outperforms SAC in terms of sample efficiency and generalization to previously unseen symmetric transformations of the environment.

eess.SY↗

Quiver Semistability and Structured Kalman Decompositions for Networked Linear Dynamical Systems

We introduce new notions of controllability and observability for networked linear time-invariant (LTI) systems based on $σ$-semistability of quiver representations. Utilizing King's criterion for $σ$-semistability, we define a network generalization of the Kalman decomposition for networked LTI systems, which systematically decomposes the local and interconnection dynamics while respecting the underlying network structure. Furthermore, we present efficient algorithms for deciding the proposed controllability and observability of a given networked LTI system and for finding the Kalman-type decomposition. We also show efficient algorithms for deciding the $σ$-semistability of representations of acyclic quivers with self-loops if the weight $σ$ has the same sign for all vertices with self-loops. Such quiver representations and weights arise from networked LTI systems.

math.OC↗

Finite Sample Identification of Analytic Nonlinear Systems

This paper studies the identification of linearly parameterized nonlinear (LPN) systems. Although LPN systems share the same linear parameterization structure as linear systems, they are more challenging to identify. In particular, previous work has shown, through a counterexample based on a piecewise-affine system, that non-active exploration is generally insufficient for LPN system identification. In this paper, we consider LPN systems with real-analytic feature functions. We show that non-active exploration is sufficient for the identification of this class of systems by establishing non-asymptotic convergence rates of least-squares estimation and set-membership estimation. In addition, we provide counterexamples to show that non-active exploration may not be sufficient for system identification for non-real-analytic systems, even if those systems are infinitely differentiable. We present numerical experiments to further support and validate our theoretical results.

eess.SY↗

Integrated Transmission and Distribution Expansion Planning Considering Customer Actions and Distributed Energy Resources

The continued integration of distributed energy resources (DERs) motivates research into integrated system planning. While existing literature shows that DERs can reduce system costs, it often overlooks customer behaviour, particularly DER adoption driven by cost savings and incentives. System cost allocation can influence these decisions, affecting DER uptake, grid injections, and overall system efficiency. Therefore, integrated system planning should consider both system- and customer-level benefits of DERs. This paper proposes a multi-step framework that combines an integrated planning model with cost allocation and retailer business models. The integrated planning model minimizes total system costs subject to network constraints, while the cost allocation and retailer models capture customer responses to costs and DER opportunities. By coordinating these models, the framework represents how customer behaviour influences planning outcomes. The proposed approach is demonstrated on a 36-bus system, with results showing that incorporating customer decision-making reduces overall system costs, lowers reliance on transmission-connected generation, and supports more realistic system planning.

eess.SY↗

On the suboptimality of stochastic MPC with varying constraint horizon

Enforcing stochastic state constraints over the full prediction horizon in Model Predictive Control (MPC) can be computationally demanding. Here we study stochastic MPC without terminal ingredients in which chance constraints are enforced only over a shorter constraint horizon. Using stochastic relaxed dynamic programming, we derive an explicit upper bound on the average expected closed-loop cost that depends on both prediction and constraint horizons. For linear quadratic problems with affine chance constraints and bounded uniform disturbances, we provide a deterministic reformulation via coordinate transformation and constraint tightening. Simulations illustrate the trade-off between computational effort and performance.

math.OC↗

MiBOT: A head-worn robot that modulates cardiovascular responses through human-like soft massage

Massage therapy is helpful for the rehabilitation of various diseases, such as headaches caused by migraines and stress. Existing robotic systems have focused on massage therapy on the torso and limbs, but performing massage motions through suitable actuation on a person's head has been a challenge. In this paper, we present MiBOT, a head-worn massage robot that actuates two soft tactors to produce touch motions mimicking human massage. A key design principle behind MiBOT is its silent actuation, which we achieve through pneumatic artificial muscles in conjunction with a controller loop to respond to contact pressure. We evaluated the effectiveness of MiBOT in a controlled study and assessed subjects' blood pressure and heart rate levels while applying MiBOT. We found that our mechanical system generated positive and conclusive quantitative outcomes that are similar to the human-administered massage, decreasing participants' mean systolic and diastolic blood pressure by 2.8 mmHg and 1.7 mmHg, respectively, as well as calming their heart rate by 8-10% on average.

cs.RO↗

Equilibria in Network Constrained Markets with System Operator

We study a networked economic system composed of $n$ producers supplying a single homogeneous good to a number of geographically separated markets and of a centralized authority, called the market maker. Producers compete à la Cournot, by choosing the quantities of good to supply to each market they have access to in order to maximize their profit. Every market is characterized by its inverse demand functions returning the unit price of the considered good as a function of the total available quantity. Markets are interconnected by a dispatch network through which quantities of the considered good can flow within finite capacity constraints and possibly satisfying additional linear physical constraints. Such flows are determined by the action of a system operator, who aims at maximizing a designated welfare function. We model such competition as a strategic game with $n+1$ players: the producers and the system operator. For this game, we first establish the existence of pure-strategy Nash equilibria under standard concavity assumptions. We then identify sufficient conditions for the game to be exact potential with an essentially unique Nash equilibrium. Next, we present a general result that connects the optimal action of the system operator with the capacity constraints imposed on the network. For the commonly used Walrasian welfare, our finding proves a connection between capacity bottlenecks in the market network and the emergence of price differences between markets separated by saturated lines. This phenomenon is frequently observed in real-world scenarios, for instance in power networks. Finally, we validate the model with data from the Italian day-ahead electricity market.

cs.GT↗

Aspiration-based Perturbed Learning Automata in Weakly-Acyclic Games with Noisy Utility Measurements

Reinforcement-based learning dynamics may exhibit several limitations when applied in a distributed setup. In (repeatedly-played) multi-player/action strategic-form games, and when each player applies an independent copy of the learning dynamics, convergence to (usually desirable) pure Nash equilibria cannot be guaranteed. Prior work has only focused on a small class of games, namely potential and coordination games. Furthermore, strong convergence guarantees (i.e., almost sure convergence or weak convergence) are mostly restricted to two-player games. To address this main limitation of reinforcement-based learning in repeatedly-played strategic-form games, this paper introduces a novel payoff-based learning scheme for distributed optimization in multi-player/action strategic-form games. We present an extension of perturbed learning automata (PLA), namely aspiration-based perturbed learning automata (APLA), in which each player's probability distribution for selecting actions is reinforced both by repeated selection and an aspiration factor that captures the player's satisfaction level. We provide a stochastic stability analysis of APLA in multi-player positive-utility weakly-acyclic games under the presence of noisy observations. We provide conditions under which convergence is attained (in weak sense) to the set of pure Nash equilibria. A methodology is also derived for calculating the stochastically stable equilibria through the aspiration action functional minimization, which simplifies the derivation of stochastically stable states. Conditions can then be derived for convergence to the Pareto efficient Nash equilibria. To the best of our knowledge, this is the first reinforcement-based learning scheme that provides global convergence guarantees in weakly-acyclic games and in a fully-distributed setup. A Monte-Carlo simulation study validates the derived conclusions.

cs.GT↗

Robust Multi-Agent Reinforcement Learning for Small UAS Separation Assurance under GPS Degradation and Spoofing

We address robust separation assurance for small Unmanned Aircraft Systems (sUAS) under GPS degradation and spoofing via Multi-Agent Reinforcement Learning (MARL). In cooperative surveillance, each aircraft (or agent) broadcasts its GPS-derived position; when such position broadcasts are corrupted, the entire observed air traffic state becomes unreliable. We cast this state observation corruption as a zero-sum game between the agents and an adversary: with probability R, the adversary perturbs the observed state to maximally degrade each agent's safety performance. We derive a closed-form expression for this adversarial perturbation, bypassing the iterative inner optimization of adversarial training entirely and enabling linear-time evaluation in the state dimension. We show that this expression approximates the exact minimizer of the value function over the modeled uncertainty set with second-order accuracy. We further bound the safety performance gap between clean and corrupted observations, showing that it degrades at most linearly with the corruption probability under Kullback-Leibler regularization. Finally, we integrate the closed-form adversarial policy into a MARL policy gradient algorithm to obtain a robust counter-policy for the agents. In a high-density sUAS simulation, we observe near-zero collision rates under corruption levels up to 35%, outperforming a baseline policy trained without adversarial perturbations.

cs.RO↗

Runtime Safety Filtering for Learned Small UAS Separation Policies under GNSS Degradation

Learning-based separation assurance for small Unmanned Aircraft Systems (sUAS) achieves near-zero collision rates in simulation, but assumes accurate position and velocity information from Global Navigation Satellite Systems (GNSS). This assumption fails in urban environments, where multipath propagation, signal blockage, and intentional interference degrade navigation integrity. This raises a fundamental architectural question for deploying learned separation policies under GNSS degradation: should runtime safety mechanisms filter the policy's actions or its observations? This work evaluates both approaches for multi-agent sUAS separation under adversarial GNSS degradation. Both architectures first estimate a worst-case traffic state consistent with bounded observation uncertainty, then diverge: action filtering constrains policy outputs via discrete-time control barrier functions evaluated at the worst-case state, while observation filtering presents the worst-case state directly to the policy as corrected input. Experimental results show that action filtering provides negligible safety improvement, while observation filtering reduces near mid-air collisions by 90% and remains robust to the barrier function's tradeoff between separation distance and closing rate. These results suggest that, for policies with learned safety behaviors, preserving the policy's decision authority outperforms overriding its actions with hand-designed constraints.

cs.RO↗

SonicNudge: Controlled Displacement of Hovering UAVs via Estimator-Controller Coupling

UAV displacement attacks have traditionally relied on spoofing sensors that directly report position or translational motion, such as GNSS and optical flow. In this work, we introduce SonicNudge, a new attack primitive that instead targets the gyroscope and shows that low-level inertial errors can be transformed into controlled displacement of hovering or slow-moving UAVs. The attack exploits estimator--controller coupling: a small gyroscope perturbation by ultrasonic resonance can persist as an attitude-estimation bias, and the flight controller can convert this biased estimate into a shifted hover point. This behavior is especially relevant to UAV tasks that require hovering, station-keeping, slow approach, or precise final alignment, such as perimeter denial, inspection, docking, landing alignment, and close-proximity operation, where meter-scale position errors can be operationally meaningful. We analyze this attack primitive in a PX4-style flight stack and validate it through 81 simulation runs and more than 10 indoor/outdoor physical experiments, showing that displacement is governed by estimator weighting, bias observability, and closed-loop position correction. Our study suggests that UAV and vehicle-system security should look beyond direct navigation spoofing and pay closer attention to low-level inertial errors and estimator--controller coupling as a subtle but important attack surface.

eess.SY↗

Performance Analysis of Time-Delay Systems under External Perturbations Using Output-to-Output Gain

Communication delays are inherent in networked control systems and may significantly affect closed-loop performance. This paper investigates the impact of external perturbations in observer-based linear systems with delayed measurements and control signals using the output-to-output gain (OOG) framework. By employing dissipativity theory and Lyapunov--Krasovskii functionals, delay-dependent linear matrix inequality conditions are derived that provide explicit upper bounds on the OOG for systems with independent delays in measurement and actuation channels. In addition, two special classes of constant-delay systems are considered: Padé-approximated systems and finite-dimension reducible systems. Numerical examples illustrate the applicability of the proposed approaches

eess.SY↗

Geodesic strong convexity does not imply forward invariance under gradient flow on SO(3): a certified counterexample

Let $mathcal{C}=\overline{\mathcal{B}}_ρ(R_c)$ be a geodesic ball of radius $ρ<π/2$ in SO(3) with the bi-invariant metric, and let $f$ be geodesically strongly convex on $\mathcal{C}$ with an interior minimizer. It is tempting to expect the gradient flow $\dot R=R(-\nabla f)^\wedge$ to keep $\mathcal{C}$ forward invariant: the flow is attracted to an interior point, and strong convexity appears to leave no room for outward motion. We show this expectation is false by an explicit, fully certified construction with $ρ=0.3$: a cost, quadratic in the principal logarithmic chart with off-diagonal coupling $0.7$, whose geodesic Hessian satisfies $\Hess f\succeqμI_3$ on all of $\mathcal{C}$ with a machine-certified modulus $μ\geq0.172$, rigorous ball arithmetic over exact rational inputs, yet whose descent velocity at a boundary point has the exact rational outward radial component $21/500$. A continuity corollary of the exact rate certifies that the flow exits the ball; numerical integration puts the peak excursion near $0.3143$ before convergence to the minimizer. The mechanism is elementary: strong convexity constrains the projection of the gradient onto the minimizer direction, not onto the inward radial direction. Code reproducing every certified constant and figure accompanies the note.

eess.SY↗

From Rigid to Adiabatic: Canonical Regularization of AC Networks via Action-Angle Variables

Traditional power system analysis relies on timescale separation and the rigid-network assumption, freezing electromagnetic transients into algebraic power-flow equations via Steinmetz's phasor theory. As grid-forming converter penetration increases, magnetic energy dynamics on transmission lines interact with converter control loops on comparable timescales, challenging this rigid-network assumption. Returning to Faraday's law of electromagnetic induction driven by rotating magnetic fields, this paper models the transmission lines' rotating magnetic fields in action-angle canonical coordinates, regularizes the rigid algebraic constraints of power-flow equations into canonical equations on adiabatic symplectic manifolds, and establishes a port-Hamiltonian standard form for AC power grids. Based on the minimal-counterexample principle and using the equal-area criterion's classical two-machine system, this paper reveals a latitudinal instability channel via Bloch-sphere coordinates: Q-V control releases voltage-amplitude freedom, shifting the stability boundary from the equatorial UEP (unstable equilibrium point) to a saddle point, thereby unifying the analytical frameworks of P-delta angle stability and Q-V voltage stability in power system analysis.

eess.SY↗

A Systematic Approach to Mechanism Design with Stochastic Dynamic Stability

We consider a resource allocation problem with strategic agents that have private stochastic satisfaction functions and local constraints. To achieve a global optimal solution, we propose an incentive mechanism that induces a game among the agents. For the payment function of the mechanism, we construct a family of quadratic functions using the linear matrix inequality (LMI) approach that implements the social welfare maximizing outcome on the unique Nash equilibrium (NE) of the induced game while ensuring budget balance and individual rationality. Moreover, we propose a decentralized variable sample-size proximal best-response (VS-PBR) algorithm with Krasnoselskij iteration where only aggregate information is available to the agents. The algorithm is dynamically stable, as it is proven to converge in the mean-square sense to the NE of the game. The efficiency of the mechanism is then investigated on the Sioux Falls City transportation network, where electric vehicle (EV) users jointly select their destination and route.

eess.SY↗

D-RADI: A Low-rank ADI Algorithm for Solving Large-scale Discrete-time Algebraic Riccati Equations

The low-rank alternating direction implicit (ADI) method is an efficient numerical technique for solving several types of large-scale matrix equations that admit low-rank solutions. The discrete-time algebraic Riccati equation (DARE) is an important matrix equation with applications in state estimation, controller design, and filter design. In the literature, the low-rank Cholesky factor ADI method for Stein equations has been used within Newton iterations to solve large-scale DAREs. However, no dedicated low-rank ADI solver is available for such DAREs. To address this gap, this paper presents a low-rank ADI solver for large-scale DAREs. We also propose an efficient approach to generate ADI shifts automatically, which makes the proposed solver fully autonomous for solving DAREs. The effectiveness of the proposed solver is compared with MATLAB's \texttt{idare} on a moderate-order problem. Efficiency and accuracy are further demonstrated on large-scale DAREs of order $10^6$. Numerical results confirm that the solver is efficient, accurate, and fully autonomous.

math.NA↗
Compare source metadata on this page
WorkPublishedSource identifierSource
A Unified Perspective on Conformal Prediction and Wasserstein Distributionally Robust Optimization for Uncertainty Quantification2026-08-302608.29789arxiv
SymVD: Symmetric Vision Language Action Distillation for Robot Manipulation2026-08-302608.29828arxiv
Quiver Semistability and Structured Kalman Decompositions for Networked Linear Dynamical Systems2026-08-302608.29871arxiv
Finite Sample Identification of Analytic Nonlinear Systems2026-08-302608.29908arxiv
Integrated Transmission and Distribution Expansion Planning Considering Customer Actions and Distributed Energy Resources2026-08-302608.29949arxiv
On the suboptimality of stochastic MPC with varying constraint horizon2026-08-302608.30017arxiv
MiBOT: A head-worn robot that modulates cardiovascular responses through human-like soft massage2026-08-302608.30055arxiv
Rates of Convergence in the Central Limit Theorem for Markov Chains, with an Application to TD Learning2026-08-292401.15719arxiv
Equilibria in Network Constrained Markets with System Operator2026-08-292501.00191arxiv
Aspiration-based Perturbed Learning Automata in Weakly-Acyclic Games with Noisy Utility Measurements2026-08-292511.18418arxiv
Robust Multi-Agent Reinforcement Learning for Small UAS Separation Assurance under GPS Degradation and Spoofing2026-08-292603.28900arxiv
Runtime Safety Filtering for Learned Small UAS Separation Policies under GNSS Degradation2026-08-292607.10014arxiv
SonicNudge: Controlled Displacement of Hovering UAVs via Estimator-Controller Coupling2026-08-292608.25319arxiv
Performance Analysis of Time-Delay Systems under External Perturbations Using Output-to-Output Gain2026-08-292608.28969arxiv
Geodesic strong convexity does not imply forward invariance under gradient flow on SO(3): a certified counterexample2026-08-292608.28976arxiv
From Rigid to Adiabatic: Canonical Regularization of AC Networks via Action-Angle Variables2026-08-292608.29129arxiv
A Systematic Approach to Mechanism Design with Stochastic Dynamic Stability2026-08-292608.29130arxiv
D-RADI: A Low-rank ADI Algorithm for Solving Large-scale Discrete-time Algebraic Riccati Equations2026-08-292608.29131arxiv

These are bibliographic comparisons, not experimental rankings. Follow the original document for methods and conditions.