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

arXiv:2607.28623v1 Announce Type: new 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 only as segmentation-masked depth from a head-mounted camera, while training-time CBF guidance represents clearance to every body link, and an adversarial motion prior regularizes the resulting evasive reflexes. We evaluate on a controlled any-link ...