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

- Source: arXiv cs.RO
- Published: 2026-10-21T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/iw2qi1kzppzci14dsaw8gy095
- Original: https://arxiv.org/abs/2607.11041

## Summary

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.