Both were exclusive rights free agents.
Robertson-Harris, 25, has played 29 games the past two seasons, making 34 tackles, five sacks and three pass breakups. He missed his rookie season of 2016 on the non-football illness list after a serious heat-related incident before reporting to training camp.
Robertson-Harris played 353 snaps on defense last season and 115 on special teams.
Irving, 24, played 20 games the past two seasons. He has 10 career tackles and a sack.
Irving played 116 snaps on defense last season and 186 on special teams.