PAKE: Learning Whole-Body Loco-Manipulation with Partial Kinematic Embeddings

Loco-manipulation has recently shown promising capabilities; however, achieving high-precision control, managing the high-dimensional action space induced by many degrees of freedom (DoFs), and fully exploiting the inherent redundancy of whole-body systems remain challenging. In this paper, we propose a novel whole-body control framework that effectively addresses these challenges by decomposing the complex loco-manipulation problem into partial reference motion generation and low-level imitation control. We introduce a new Kinematic Normalizing Flow (KNF) model, trained on a large-scale kinematic dataset, that generates diverse yet feasible partial reference motions. A high-level controller is then trained to navigate the KNF's latent space to exploit redundant solutions, while a low-level controller ensures physically feasible and accurate motion execution. We validate our approach on the quadrupedal robot equipped with a six-DoF robotic arm. In simulation, experimental results show that our approach significantly outperforms state-of-the-art methods in terms of tracking accuracy and feasible workspace coverage. For hardware deployment, we evaluate the system over 24 episodes across 8 different mobile loco-manipulation tasks. The system achieves end-effector pose-tracking errors of 4.5 cm and 0.14 rad, while maintaining accurate locomotion tracking with linear and angular velocity errors of 0.1 m/s and 0.01 rad/s, respectively, outperforming competitive baselines. Our method represents a practical and powerful solution for accurate and generalized whole-body loco-manipulation in high-DoF robotic systems, with promising potential for diverse downstream robotic tasks.