#Bocce Ball (2)

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

A perception-aware CBF-RL framework that couples control-barrier safety with onboard sensing for whole-body humanoid dodgeball. The deployed policy sees the ball only as segmentation-masked depth from a head-mounted camera, with CBF guidance representing clearance to every body link. Deployed zero-shot on Unitree G1, achieving 95% success rate on real-world throws.