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.
@article{arxiv.2511.14434,
title = {Achieving Safe Control Online through Integration of Harmonic Control Lyapunov-Barrier Functions with Unsafe Object-Centric Action Policies},
author = {Marlow Fawn and Matthias Scheutz},
journal= {arXiv preprint arXiv:2511.14434},
year = {2025}
}