mlsanityData to 7 Oct 2026

SayTap: Language to Quadrupedal Locomotion

arXiv 2306.07580 ↗First posted 13 Jun 2023cs.ROcited by 40

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Abstract (arXiv)

Large language models (LLMs) have demonstrated the potential to perform high-level planning. Yet, it remains a challenge for LLMs to comprehend low-level commands, such as joint angle targets or motor torques. This paper proposes an approach to use foot contact patterns as an interface that bridges human commands in natural language and a locomotion controller that outputs these low-level commands. This results in an interactive system for quadrupedal robots that allows the users to craft diverse locomotion behaviors flexibly. We contribute an LLM prompt design, a reward function, and a method to expose the controller to the feasible distribution of contact patterns. The results are a controller capable of achieving diverse locomotion patterns that can be transferred to real robot hardware. Compared with other design choices, the proposed approach enjoys more than 50% success rate in predicting the correct contact patterns and can solve 10 more tasks out of a total of 30 tasks. Our project site is: https://saytap.github.io.

Key facts. Cited by 40 papers in the map (data through 7 Oct 2026). First posted on arXiv 13 Jun 2023.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 4; 2024: 18; 2025: 12; 2026: 6.

40 papers.

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  1. 2024Vision Language Models are In-Context Value Learnerscited by 84
  2. 2024DrEureka: Language Model Guided Sim-To-Real Transfercited by 78
  3. 2024HiRT: Enhancing Robotic Control with Hierarchical Robot Transformerscited by 72
  4. 2024Real-World Robot Applications of Foundation Models: A Reviewcited by 60
  5. 2023QUAR-VLA: Vision-Language-Action Model for Quadruped Robotscited by 55
  6. 2024Plan-Seq-Learn: Language Model Guided RL for Solving Long Horizon Robotics Taskscited by 51
  7. 2023Prompt a Robot to Walk with Large Language Modelscited by 44
  8. 2025What Is The Best 3D Scene Representation for Robotics? From Geometric to Foundation Modelscited by 29
  9. 2023Unleashing the Power of Pre-trained Language Models for Offline Reinforcement Learningcited by 24
  10. 2023Exposing Limitations of Language Model Agents in Sequential-Task Compositions on the Webcited by 23
  11. 2024Commonsense Reasoning for Legged Robot Adaptation with Vision-Language Modelscited by 15
  12. 2025MobileVLA-R1: Reinforcing Vision-Language-Action for Mobile Robotscited by 15
28 more
  1. 2024Eurekaverse: Environment Curriculum Generation via Large Language Modelscited by 14
  2. 2025The Evolving Landscape of LLM- and VLM-Integrated Reinforcement Learningcited by 10
  3. 2024QUART-Online: Latency-Free Large Multimodal Language Model for Quadruped Robot Learningcited by 9
  4. 2024Helpful DoggyBot: Open-World Object Fetching using Legged Robots and Vision-Language Modelscited by 8
  5. 2024Video2Reward: Generating Reward Function from Videos for Legged Robot Behavior Learningcited by 8
  6. 2024HYPERmotion: Learning Hybrid Behavior Planning for Autonomous Loco-manipulationcited by 7
  7. 2025ROVER: Recursive Reasoning Over Videos with Vision-Language Models for Embodied Taskscited by 6
  8. 2024Vision Language Models Can Parse Floor Plan Mapscited by 5
  9. 2024SwarmGPT: Combining Large Language Models with Safe Motion Planning for Drone Swarm Choreographycited by 5
  10. 2024Natural Language as Policies: Reasoning for Coordinate-Level Embodied Control with LLMscited by 4
  11. 2024TalkWithMachines: Enhancing Human-Robot Interaction for Interpretable Industrial Robotics Through Large/Vision Language Modelscited by 4
  12. 2025Taking Flight with Dialogue: Enabling Natural Language Control for PX4-based Drone Agentcited by 4
  13. 2024BBSEA: An Exploration of Brain-Body Synchronization for Embodied Agentscited by 3
  14. 2025LLM-Mediated Guidance of MARL Systemscited by 3
  15. 2024Meta-Control: Automatic Model-based Control Synthesis for Heterogeneous Robot Skillscited by 2
  16. 2025LAMS: LLM-Driven Automatic Mode Switching for Assistive Teleoperationcited by 2
  17. 2025PIP-LLM: Integrating PDDL-Integer Programming with LLMs for Coordinating Multi-Robot Teams Using Natural Languagecited by 2
  18. 2024A Prompt-driven Task Planning Method for Multi-drones based on Large Language Modelcited by 1
  19. 2025Efficiently Generating Expressive Quadruped Behaviors via Language-Guided Preference Learningcited by 1
  20. 2025Unified Locomotion Transformer with Simultaneous Sim-to-Real Transfer for Quadrupedscited by 1
  21. 2025INTENTION: Inferring Tendencies of Humanoid Robot Motion Through Interactive Intuition and Grounded VLMcited by 1
  22. 2026WestWorld: A Knowledge-Encoded Scalable Trajectory World Model for Diverse Robotic Systemscited by 1
  23. 2026OpenGo: An OpenClaw-Based Robotic Dog with Real-Time Skill Switchingcited by 1
  24. 2025SCOPE: Language Models as One-Time Teacher for Hierarchical Planning in Text Environmentscited by 0
  25. 2026RobotDesignGPT: Automated Robot Design Synthesis using Vision Language Modelscited by 0
  26. 2026TeNet: Text-to-Network for Compact Policy Synthesiscited by 0
  27. 2026Learning Task-Invariant Properties via Dreamer: Enabling Efficient Policy Transfer for Quadruped Robotscited by 0
  28. 2026When are LLMs Sufficient Policy Optimizers for Sequential RL Tasks?cited by 0