Feasibility-aware Learning of Robust Temporal Logic Controllers using BarrierNet

TL;DR

This paper introduces a learning-based control framework that adaptively enforces Signal Temporal Logic specifications using trainable barrier functions, improving robustness and feasibility in safety-critical control tasks.

Contribution

It proposes a feasibility-aware learning approach with trainable, time-varying HOCBF constraints and a unified robustness measure, eliminating manual tuning and enhancing STL satisfaction.

Findings

Maintains high STL robustness under tight input bounds.

Outperforms fixed-parameter and non-adaptive baselines.

Guarantees STL satisfaction with strictly feasible constraints.

Abstract

Control Barrier Functions (CBFs) have been used to enforce safety and task specifications expressed in Signal Temporal Logic (STL). However, existing CBF-STL approaches typically rely on fixed hyperparameters and per-step optimization, which can lead to overly conservative behavior, infeasibility near tight input limits, and difficulty satisfying long-horizon STL tasks. To address these limitations, we propose a feasibility-aware learning framework that constructs trainable, time-varying High Order Control Barrier Function (HOCBF) constraints and hyperparameters that guarantee satisfaction of a given STL specification. We introduce a unified robustness measure that jointly captures STL satisfaction, constraint feasibility, and control-bound compliance, and propose a neural network architecture to generate control inputs that maximize this robustness. The resulting controller guarantees STL satisfaction with strictly feasible HOCBF constraints and requires no manual tuning. Simulation results demonstrate that the proposed framework maintains high STL robustness under tight input bounds and significantly outperforms fixed-parameter and non-adaptive baselines in complex environments.