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

arXiv:2607.28623v2 Announce Type: replace-cross Abstract: 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