What is echo_code?

ECHO, short for Edge-Cloud Humanoid Orchestration for Language-to-Motion Control, is a research framework that lets you control a humanoid robot by typing plain language instructions. You might type walk forward slowly or wave right hand, and the system translates that text into physical robot movements in roughly one second. The system is split between two environments. On the cloud side, a diffusion model, a type of AI that generates output by gradually refining noise into a result, takes the text instruction and produces a sequence of 38 numbers describing how each of the robot's 29 joints should move, along with root position and rotation data. This generation step runs on a cloud GPU and streams the result over a WebSocket connection, a persistent real-time data link, to the robot. On the edge side, meaning directly on or near the robot, a lightweight tracking policy runs at 50 times per second and converts the incoming motion sequence into actual joint commands, maintaining balance and recovering automatically from falls. This edge component runs efficiently enough to operate on a CPU alone. The target hardware is the Unitree G1 humanoid robot, and the system can also be tested in MuJoCo, a physics simulation environment. Three pre-trained checkpoints are provided at different sizes, trading off generation speed, roughly 1 to 3 seconds, against motion quality. You would use this if you are a robotics researcher wanting to experiment with text-driven whole-body robot control, or if you are working with the Unitree G1 and want a starting point for natural language motion generation. The codebase is written in Python. The full README is longer than what was provided.