Here is from the dictionary
Sorry (adj): [not before noun] feeling sad and sympathetic
sorry (that)… I'm sorry that your husband lost his job.
sorry (to see, hear, etc.) We're sorry to hear that your father's in hospital again.
sorry (about something) No one is sorrier than I am about what happened.
Sorry (adj): [not before noun] feeling sad and ashamed about something that has been done
sorry (about something) We're very sorry about the damage to your car.
sorry (for something/doing something) He says he's really sorry for taking the car without asking.
sorry (that)… She was sorry that she'd lost her temper.
If you say you're sorry we'll forgive you.
Sorry (adj): [not before noun] feeling disappointed about something and wishing you had done something different or had not done something
sorry (that)… She was sorry that she'd lost contact with Mary.
You'll be sorry if I catch you!
sorry to do something I was genuinely sorry to be leaving college.
This site says:
When do we use to be sorry to and to be sorry for? Have a look at the following sentences, it´s really easy!
To be sorry to + infinitive = to apologise for a present action
I´m sorry to interrupt but could you come with me for a second?
To be sorry for + verb with -ing = to apologise for a past/earlier action
I´m sorry for lying to you, I won´t do it again
I would say:
"I am sorry to miss your concert" means I'n sorry before I do it
"I am sorry for missing your concert" means I'm sorry after I did it