Jul 2026
PAKE: Learning Whole-Body Loco-Manipulation with Partial Kinematic Embeddings
This paper introduces a new Kinematic Normalizing Flow (KNF) model, trained on a large-scale kinematic dataset, that generates diverse yet feasible partial reference motions that effectively addresses whole-body control challenges by decomposing the complex loco-manipulation problem into partial reference motion generation and low-level imitation control.
Zhengmao He, Moonkyu Jung, Hyeongjun Kim et al.
· arXiv.org · 0 citations