The $k$-independence number of a graph is the maximum size of a set of vertices at pairwise distance greater than $k$. A graph is called $k$-partially walk-regular if the number of closed walks of a given length $l\le k$, rooted at a vertex $v$, only depends on $l$. In particular, a distance-regular graph is also $k$-partially walk-regular for any $k$. In this note, we introduce a new family of polynomials obtained from the spectrum of a graph. These polynomials, together with the interlacing technique, allow us to give tight spectral bounds on the $k$-independence number of a $k$-partially walk-regular graph. Together with some examples where the bounds are tight, we also show that the odd graph $O_{\ell}$ with $\ell$ odd has no $1$-perfect code.