@article{pacmanperceptionawarecbfrlforwholebodysa,
  title = {PAC-MAN: Perception-Aware CBF-RL for Whole-Body Safety in Humanoid Dodgeball},
  author = {Lizhi Yang and Junheng Li and Aaron D. Ames},
  year = {2026},
  eprint = {2607.28623},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2607.28623},
}