PAC-MAN: Perception-Aware CBF-RL for Whole-Body Safety in Humanoid Dodgeball
By Lizhi Yang · Paper · cs.RO
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 training-