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Winning a Won Game: Strict Reach-Avoid-Stay Control Barrier Functions for High-Dimensional Black-Box Systems

arXiv · AI, language, vision and robotics · article · Sep 16, 2026 · UTC

Robots must complete their tasks and maintain the achieved outcomes while avoiding safety failures at all times. Strict reach-avoid-stay (sRAS) formalizes this requirement: safely reaching a target and remaining there indefinitely after first entry. We propose an sRAS Q-control barrier function (CBF) safety filter for high-dimensional black-box systems under bounded uncertainty. Our construction combines a stay value encoding safe permanent residence in a target subset with a reach-avoid value encoding safe reachability of this subset while avoiding target states from which safe permanent resi

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