Preprint2026
PAC-MAN: Perception-Aware CBF-RL for Whole-Body Safety in Humanoid Dodgeball
Lizhi Yang, Junheng Li, Aaron D. Ames
PAC-MAN couples control-barrier safety with perception-aware training for whole-body humanoid dodgeball, achieving 95% real-world evasion with a fixed camera.
0Jul 30, 2026Ai SafetyBenchmarks
arXiv