If it's been trained to, but I'm not sure that's been the focus recently, though I think some research has been done into it. Turns out prediction engines with attention are useful for more than just predicting text; our bodies and brains work on learned assumptions and behaviours.

But certainly I imagine transformer + attention can = learning to walk/perform task. LLM specifically no...because it's trained on language and not motion, it's all in the name. But even then perhaps motion can be turned into language (non English tokens tho) & an LLM still used, I know people are working on funky stuff like that as well.