{"id":24741191,"url":"https://github.com/hybridrobotics/prompt2walk","last_synced_at":"2025-06-12T03:16:33.208Z","repository":{"id":195674559,"uuid":"693249245","full_name":"HybridRobotics/prompt2walk","owner":"HybridRobotics","description":"Code for Prompt a Robot to Walk with Large Language Models https://arxiv.org/abs/2309.09969","archived":false,"fork":false,"pushed_at":"2023-09-22T17:16:01.000Z","size":4108,"stargazers_count":56,"open_issues_count":0,"forks_count":5,"subscribers_count":6,"default_branch":"main","last_synced_at":"2024-01-29T10:36:01.129Z","etag":null,"topics":["ai","artificial-intelligence","control-systems","large-language-models","locomotion","machine-learning","ml","robotics"],"latest_commit_sha":null,"homepage":"https://prompt2walk.github.io/","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/HybridRobotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null}},"created_at":"2023-09-18T16:40:10.000Z","updated_at":"2024-01-27T09:08:23.000Z","dependencies_parsed_at":"2023-12-28T04:42:46.352Z","dependency_job_id":null,"html_url":"https://github.com/HybridRobotics/prompt2walk","commit_stats":{"total_commits":3,"total_committers":1,"mean_commits":3.0,"dds":0.0,"last_synced_commit":"f0d0865341f3518945bc716cc8ce6675d1b52d7c"},"previous_names":["hybridrobotics/prompt2walk"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HybridRobotics%2Fprompt2walk","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HybridRobotics%2Fprompt2walk/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HybridRobotics%2Fprompt2walk/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HybridRobotics%2Fprompt2walk/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/HybridRobotics","download_url":"https://codeload.github.com/HybridRobotics/prompt2walk/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":235941491,"owners_count":19069662,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["ai","artificial-intelligence","control-systems","large-language-models","locomotion","machine-learning","ml","robotics"],"created_at":"2025-01-27T23:49:29.433Z","updated_at":"2025-01-27T23:49:29.929Z","avatar_url":"https://github.com/HybridRobotics.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Prompt a Robot to Walk with Large Language Models\n\nThis repository contains the code for our paper [Prompt a Robot to Walk with Large Language Models](https://arxiv.org/abs/2309.09969) by [Yen-Jen Wang](https://wangyenjen.github.io/), [Bike Zhang](https://bikezhang106.github.io/), [Jianyu Chen](http://people.iiis.tsinghua.edu.cn/~jychen/), and [Koushil Sreenath](https://hybrid-robotics.berkeley.edu/koushil/).\n\n## Overview\n\u003cimg src=\"figs/demo.png\" alt=\"demo\" width=\"600\" /\u003e\n\nThe LLM directly outputs the low-level action to make a robot to walk. In our experiment, the LLM is supposed to run at 10 Hz although the simulation has to be paused to wait for LLM inference, and the PD controller executes at 200 Hz.\n\n## Setup\n\n### Create conda env:\n\n```shell\nconda create -n prompt2walk python=3.9\nconda activate prompt2walk\n```\n\n### Requirements\n\n```shell\npip install -r requirements.txt\n```\n\n## Usage\n\n### Configuration\n\nPlease fill the `openai.api_key` in `src/llm.py`.\n\n### Collect the trajectory from the LLM controller\n\n```shell\npython src/run.py\n```\n\n### Replay the trajectory\n\n```shell\npython src/replay.py\n```\n\n## Training your own policy\n\nPlease refer to [Isaac Gym Environments for Legged Robots](https://github.com/leggedrobotics/legged_gym). Currently, we've tested our code on A1 and ANYmal C Robot at 10 Hz.\n\n## Want more details?\nPlease read our paper! If you have further questions, please feel free to contact [Yen-Jen](https://wangyenjen.github.io/).\n\n## Citation\n\nPlease cite our paper if you use this code or parts of it:\n```\n@article{wang2023prompt,\n  title={Prompt a Robot to Walk with Large Language Models},\n  author={Wang, Yen-Jen and Zhang, Bike and Chen, Jianyu and Sreenath, Koushil},\n  journal={arXiv preprint arXiv:2309.09969},\n  year={2023}\n}\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhybridrobotics%2Fprompt2walk","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fhybridrobotics%2Fprompt2walk","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhybridrobotics%2Fprompt2walk/lists"}