PAC-MAN: Perception-Aware CBF-RL for Whole-Body Safety in Humanoid Dodgeball
The episode discusses PAC-MAN, a paper presenting a perception-aware Control Barrier Function Reinforcement Learning framework for whole-body safety in humanoid dodgeball. The hosts explore how this method bridges safety guarantees with real-world sensing limitations, focusing on using depth images to enable robust evasion strategies even with imperfect onboard perception.