Hrbaty, who won the event in 2004, beat Kenneth Carlsen 7-5, 6-3, while Berdych topped Philipp Kohlschreiber, 6-1, 6-4.
"I'm very happy to be in the semifinals here again," Hrbaty said. "I played well from the baseline and served better as the match went on."
In Saturday's semis, Hrbaty meets Serra while Berdych will square off against Serra.
The winner of this tournament will earn $57,750.