Achieving Safe Control Online through Integration of Harmonic Control Lyapunov-Barrier Functions with Unsafe Object-Centric Action Policies
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arXiv
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| Hauptverfasser: | , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866914163076366336 |
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| author | Fawn, Marlow Scheutz, Matthias |
| author_facet | Fawn, Marlow Scheutz, Matthias |
| contents | We propose a method for combining Harmonic Control Lyapunov-Barrier Functions (HCLBFs) derived from Signal Temporal Logic (STL) specifications with any given robot policy to turn an unsafe policy into a safe one with formal guarantees. The two components are combined via HCLBF-derived safety certificates, thus producing commands that preserve both safety and task-driven behavior. We demonstrate with a simple proof-of-concept implementation for an object-centric force-based policy trained through reinforcement learning for a movement task of a stationary robot arm that is able to avoid colliding with obstacles on a table top after combining the policy with the safety constraints. The proposed method can be generalized to more complex specifications and dynamic task settings. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2511_14434 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Achieving Safe Control Online through Integration of Harmonic Control Lyapunov-Barrier Functions with Unsafe Object-Centric Action Policies Fawn, Marlow Scheutz, Matthias Robotics Logic in Computer Science We propose a method for combining Harmonic Control Lyapunov-Barrier Functions (HCLBFs) derived from Signal Temporal Logic (STL) specifications with any given robot policy to turn an unsafe policy into a safe one with formal guarantees. The two components are combined via HCLBF-derived safety certificates, thus producing commands that preserve both safety and task-driven behavior. We demonstrate with a simple proof-of-concept implementation for an object-centric force-based policy trained through reinforcement learning for a movement task of a stationary robot arm that is able to avoid colliding with obstacles on a table top after combining the policy with the safety constraints. The proposed method can be generalized to more complex specifications and dynamic task settings. |
| title | Achieving Safe Control Online through Integration of Harmonic Control Lyapunov-Barrier Functions with Unsafe Object-Centric Action Policies |
| topic | Robotics Logic in Computer Science |
| url | https://arxiv.org/abs/2511.14434 |