PAC-MAN: Perception-Aware CBF-RL for Whole-Body Safety in Humanoid Dodgeball

We present PAC-MAN, a perception-aware CBF-RL framework that couples control-barrier safety with deployment-realistic onboard sensing for whole-body humanoid dodgeball.

We present PAC-MAN, a perception-aware CBF-RL framework that couples control-barrier safety with deployment-realistic onboard sensing for whole-body humanoid dodgeball. The deployed policy sees the ball only as segmentation-masked depth from a head-mounted camera, while…