Combining Large Language Models and Gradient-Free Optimization for Automatic Control Policy Synthesis

Carlo Bosio, Matteo Guarrera, Alberto Sangiovanni-Vincentelli, Mark W. Mueller

UC Berkeley

Preprint: https://arxiv.org/abs/2510.00373

Code: https://github.com/carlobosio/colmo-code/

Unitree A1 (backward)

unitree6_HQ.mp4

Quadruped

quadruped1.mp4

quadruped3.mp4

quadruped4.mp4

quadruped2.mp4

Cheetah

cheetah4.mp4

cheetah7.mp4

Ball-in-cup

ballcup5.mp4

ballcup3.mp4

ballcup1.mp4

ballcup2.mp4

Pendulum swing-up

pendulum1.mp4

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