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PAKE: Whole-body loco-manipulation via partial motion generation and low-level imitation control

PAKE proposes a whole-body loco-manipulation control framework that decomposes the problem into partial reference motion generation and low-level imitation control. It introduces a Kinematic Normalizing Flow (KNF) model trained on a large-scale motion generation dataset to generate diverse partial motion references; a high-level controller navigates the KNF latent space to exploit redundant solutions, while a low-level controller learns dynamically consistent motion execution.

Part of the event: PAKE: A Hierarchical Control Framework for Whole-Body Mobile Manipulation with Quadruped Robots

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