A library of experiments using frontier LLMs/VLMs for robotics tasks, currently focusing on GPT-6 Astra.

The earlier demos include MuJoCo environments and controllers. The Baoding experiment includes an Isaac Lab/PhysX trainer, a policy checkpoint, and a recorded rollout with a kinematic MuJoCo replay. Current tasks cover manipulation, locomotion, writing, drawing, and dexterous in-hand motion.

Experiment	Preview	Demo
Headphone untangling		Two robot arms open two tangled cable regions.
Robo spider		A six-legged robot carries and places two objects using two arms.
Fibonacci writing		A humanoid writes a Python program on a whiteboard.
Dove drawing		An articulated hand draws a dove with a pencil.
Baoding balls		A Sharpa hand rotates two balls in simulation.

Watch or download the earlier demos.

Tested on macOS Apple Silicon with Python 3.14 and MuJoCo 3.12.0. Rendering needs graphics support. Other platforms have not been verified.

Install uv, then clone the repository and install its dependencies:

git clone https://github.com/dimentary/llm-robotics-playground.git
cd llm-robotics-playground
uv sync --locked
uv run python check.py

uv handles Python 3.14 and the project environment. Pick an experiment and follow its README to run it. New results go in its outputs/ folder, which Git ignores. The earlier experiments share robot models in assets/; the Baoding model is included with that experiment.

Download a recorded run without rerunning the simulation:

uv run python fetch.py robo-spider
cd experiments/robo-spider
uv run python validate.py
uv run python render.py --preview

To try another demo, replace robo-spider with its folder name and follow that experiment's replay instructions. Downloads are checked against recordings.json. If replay files already exist in outputs/, move them aside before downloading again.

The Baoding demo is already included with its selected trace and video; it does not use fetch.py.

The first experiments used GPT-6 Astra in Codex to build the environments and write the robot-control code. I guided the task setup and gave feedback along the way. The Baoding demo instead uses an RL policy trained in Isaac Lab/PhysX. Replay and validation here run locally without calling a model API. Each experiment's README explains its setup and what the demo shows.

Original code is MIT licensed. Robot models retain their upstream licenses: shared assets and the Sharpa model. The dove artwork and artwork-derived assets are excluded from the MIT grant; see the drawing credits.