pac-man-45e019be·1 events·first seen Aliases: PAC-MAN
Researchers present PAC-MAN, a framework combining control barrier functions (CBF) with reinforcement learning for whole-body safety in humanoid robots, demonstrated via a dodgeball evasion task. The system uses only onboard depth camera with semantic segmentation, no privileged state information, and is deployed zero-shot on a Unitree G1 humanoid achieving 95% dodge success on real throws. The work advances perception-aware safety for humanoid locomotion by showing that fixed onboard cameras are adequate for reactive whole-body evasion when paired with appropriate barrier structure.