Trending in Systems and Control
DRCC-LPVMPC: Robust Data-Driven Control for Autonomous Driving and Obstacle Avoidance
Safety in obstacle avoidance is critical for autonomous driving. While model predictive control (MPC) is widely used, simplified prediction models such as linearized or single-track vehicle models introduce discrepancies between predicted and actual behavior that can compromise safety. This paper proposes a distributionally robust chance-constrained linear parameter-varying MPC (DRCC-LPVMPC) framework that explicitly accounts for such discrepancies. The single-track vehicle dynamics are represented in a quasi-linear parameter-varying (quasi-LPV) form, with model mismatches treated as additive uncertainties of unknown distribution. By constructing chance constraints from finite sampled data and employing a Wasserstein ambiguity set, the proposed method avoids restrictive assumptions on boundedness or Gaussian distributions. The resulting DRCC problem is reformulated as tractable convex constraints and solved in real time using a quadratic programming solver. Recursive feasibility of the approach is formally established. Simulation and real-world experiments demonstrate that DRCC-LPVMPC maintains safer obstacle clearance and more reliable tracking than conventional nonlinear MPC and LPVMPC controllers under significant uncertainties.
2603.14408
Mar 2026Systems and Control
Video Generation Models in Robotics -- Applications, Research Challenges, Future Directions
Video generation models have emerged as high-fidelity models of the physical world, capable of synthesizing high-quality videos capturing fine-grained interactions between agents and their environments conditioned on multi-modal user inputs. Their impressive capabilities address many of the long-standing challenges faced by physics-based simulators, driving broad adoption in many problem domains, e.g., robotics. For example, video models enable photorealistic, physically consistent deformable-body simulation without making prohibitive simplifying assumptions, which is a major bottleneck in physics-based simulation. Moreover, video models can serve as foundation world models that capture the dynamics of the world in a fine-grained and expressive way. They thus overcome the limited expressiveness of language-only abstractions in describing intricate physical interactions. In this survey, we provide a review of video models and their applications as embodied world models in robotics, encompassing cost-effective data generation and action prediction in imitation learning, dynamics and rewards modeling in reinforcement learning, visual planning, and policy evaluation. Further, we highlight important challenges hindering the trustworthy integration of video models in robotics, which include poor instruction following, hallucinations such as violations of physics, and unsafe content generation, in addition to fundamental limitations such as significant data curation, training, and inference costs. We present potential future directions to address these open research challenges to motivate research and ultimately facilitate broader applications, especially in safety-critical settings.
2601.07823
Jan 2026Systems and Control
The Dawn of Agentic EDA: A Survey of Autonomous Digital Chip Design
This survey provides a comprehensive overview of the integration of Generative AI and Agentic AI within the field of Digital Electronic Design Automation (EDA). The paper first reviews the paradigmatic evolution from traditional Computer-Aided Design (CAD) to AI-assisted EDA (AI4EDA), and finally to the emerging AI-Native and Agentic design paradigms. We detail the application of these paradigms across the digital chip design flow, including the construction of agentic cognitive architectures based on multimodal foundation models, frontend RTL code generation and intelligent verification, and backend physical design featuring algorithmic innovations and tool orchestration. We validate these methodologies through integrated case studies, demonstrating practical viability from microarchitecture definition to GDSII. Special emphasis is placed on the potential for cross-stage feedback loops where agents utilize backend PPA metrics to autonomously refine frontend logic. Furthermore, this survey delves into the dual-faceted impact on security, covering novel adversarial risks, automated vulnerability repair, and privacy-preserving infrastructure. Finally, the paper critically summarizes current challenges related to hallucinations, data scarcity, and black-box tools, and outlines future trends towards L4 autonomous chip design. Ultimately, this work aims to define the emerging field of Agentic EDA and provide a strategic roadmap for the transition from AI-assisted tools to fully autonomous design engineers.
2512.23189
Dec 2025Systems and Control
Intertemporal Hedging Demand under Epstein-Zin Preferences in a Multi-Asset Long-Run Risk Model: Evidence from Projected Pontryagin-Guided Deep Policy Optimization
I study intertemporal hedging demand in a continuous-time multi-asset long-run risk (LRR) model under Epstein--Zin (EZ) recursive preferences. The investor trades a risk-free asset and several risky assets whose drifts and volatilities depend on an Ornstein--Uhlenbeck type LRR factor. Preferences are described by EZ utility with risk aversion $R$, elasticity of intertemporal substitution $ψ$, and discount rate $δ$, so that the standard time-additive CRRA case appears as a limiting benchmark. To handle the high-dimensional consumption--investment problem, I use a projected Pontryagin-guided deep policy optimization (P-PGDPO) scheme adapted to EZ preferences. The method starts from the continuous-time Hamiltonian implied by the Pontryagin maximum principle, represents the value and costate processes with neural networks, and updates the policy along the Hamiltonian gradient. Portfolio constraints and a lower bound on wealth are enforced by explicit projection operators rather than by adding ad hoc penalties. Three main findings emerge from numerical experiments in a five-asset LRR economy: \textbf{(1)} the P-PGDPO algorithm achieves stable convergence across multiple random seeds, validating its reliability for solving high-dimensional EZ problems; \textbf{(2)} wealth floors materially reduce hedging demand by limiting the investor's ability to exploit intertemporal risk-return tradeoffs; and \textbf{(3)} the learned hedging portfolios concentrate exposure in assets with high correlation to the LRR factor, confirming that EZ agents actively hedge long-run uncertainty rather than merely following myopic rules. Because EZ preferences nest time-additive CRRA in the limit $ψ\to 1/R$, I use CRRA as an explicit diagnostic benchmark and, when needed, a warm start to stabilize training in high dimensions.
2512.15175
Dec 2025Systems and Control
LUCID: Learning-Enabled Uncertainty-Aware Certification of Stochastic Dynamical Systems
Ensuring the safety of AI-enabled systems, particularly in high-stakes domains such as autonomous driving and healthcare, has become increasingly critical. Traditional formal verification tools fall short when faced with systems that embed both opaque, black-box AI components and complex stochastic dynamics. To address these challenges, we introduce LUCID (Learning-enabled Uncertainty-aware Certification of stochastIc Dynamical systems), a verification engine for certifying safety of black-box stochastic dynamical systems from a finite dataset of random state transitions. As such, LUCID is the first known tool capable of establishing quantified safety guarantees for such systems. Thanks to its modular architecture and extensive documentation, LUCID is designed for easy extensibility. LUCID employs a data-driven methodology rooted in control barrier certificates, which are learned directly from system transition data, to ensure formal safety guarantees. We use conditional mean embeddings to embed data into a reproducing kernel Hilbert space (RKHS), where an RKHS ambiguity set is constructed that can be inflated to robustify the result to out-of-distribution behavior. A key innovation within LUCID is its use of a finite Fourier kernel expansion to reformulate a semi-infinite non-convex optimization problem into a tractable linear program. The resulting spectral barrier allows us to leverage the fast Fourier transform to generate the relaxed problem efficiently, offering a scalable yet distributionally robust framework for verifying safety. LUCID thus offers a robust and efficient verification framework, able to handle the complexities of modern black-box systems while providing formal guarantees of safety. These unique capabilities are demonstrated on challenging benchmarks.
2512.11750
Dec 2025Systems and Control
2512.11734Model Error Resonance: The Geometric Nature of Error Dynamics
This paper introduces a geometric theory of model error, treating true and model dynamics as geodesic flows generated by distinct affine connections on a smooth manifold. When these connections differ, the resulting trajectory discrepancy--termed the Latent Error Dynamic Response (LEDR)--acquires an intrinsic dynamical structure governed by curvature. We show that the LEDR satisfies a Jacobi-type equation, where curvature mismatch acts as an explicit forcing term. In the important case of a flat model connection, the LEDR reduces to a classical Jacobi field on the true manifold, causing Model Error Resonance (MER) to emerge under positive sectional curvature. The theory is extended to a discrete-time analogue, establishing that this geometric structure and its resonant behavior persist in sampled systems. A closed-form analysis of a sphere--plane example demonstrates that curvature can be inferred directly from the LEDR evolution. This framework provides a unified geometric interpretation of structured error dynamics and offers foundational tools for curvature-informed model validation.
2512.11734
Dec 2025Systems and Control
ECO: Energy-Constrained Operator Learning for Chaotic Dynamics with Boundedness Guarantees
Chaos is a fundamental feature of many complex dynamical systems, including weather systems and fluid turbulence. These systems are inherently difficult to predict due to their extreme sensitivity to initial conditions. Many chaotic systems are dissipative and ergodic, motivating data-driven models that aim to learn invariant statistical properties over long time horizons. While recent models have shown empirical success in preserving invariant statistics, they are prone to generating unbounded predictions, which prevent meaningful statistics evaluation. To overcome this, we introduce the Energy-Constrained Operator (ECO) that simultaneously learns the system dynamics while enforcing boundedness in predictions. We leverage concepts from control theory to develop algebraic conditions based on a learnable energy function, ensuring the learned dynamics is dissipative. ECO enforces these algebraic conditions through an efficient closed-form quadratic projection layer, which provides provable trajectory boundedness. To our knowledge, this is the first work establishing such formal guarantees for data-driven chaotic dynamics models. Additionally, the learned invariant level set provides an outer estimate for the strange attractor, a complex structure that is computationally intractable to characterize. We demonstrate empirical success in ECO's ability to generate stable long-horizon forecasts, capturing invariant statistics on systems governed by chaotic PDEs, including the Kuramoto--Sivashinsky and the Navier--Stokes equations.
2512.01984
Dec 2025Systems and Control
AI-Driven Optimization under Uncertainty for Mineral Processing Operations
The global capacity for mineral processing must expand rapidly to meet the demand for critical minerals, which are essential for building the clean energy technologies necessary to mitigate climate change. However, the efficiency of mineral processing is severely limited by uncertainty, which arises from both the variability of feedstock and the complexity of process dynamics. To optimize mineral processing circuits under uncertainty, we introduce an AI-driven approach that formulates mineral processing as a Partially Observable Markov Decision Process (POMDP). We demonstrate the capabilities of this approach in handling both feedstock uncertainty and process model uncertainty to optimize the operation of a simulated, simplified flotation cell as an example. We show that by integrating the process of information gathering (i.e., uncertainty reduction) and process optimization, this approach has the potential to consistently perform better than traditional approaches at maximizing an overall objective, such as net present value (NPV). Our methodological demonstration of this optimization-under-uncertainty approach for a synthetic case provides a mathematical and computational framework for later real-world application, with the potential to improve both the laboratory-scale design of experiments and industrial-scale operation of mineral processing circuits without any additional hardware.
2512.01977
Dec 2025Systems and Control
