diff --git a/.github/workflows/doc.yml b/.github/workflows/doc.yml
new file mode 100644
index 00000000..b0ed28b6
--- /dev/null
+++ b/.github/workflows/doc.yml
@@ -0,0 +1,38 @@
+name: Documentation
+on:
+  push:
+    branches:
+      - main
+jobs:
+  ai_doc:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up Python 3.12
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+          cache: 'pip' # caching pip dependencies
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip          
+          pip install pydoc-markdown
+      - name: Generate documentation and examples
+        run: |
+          pydoc-markdown -I src -p reachy_mini --render-toc > doc.md
+          VERSION=$(grep '^version =' pyproject.toml | head -n1 | cut -d'"' -f2)
+          DATE=$(date -u +'%Y-%m-%d %H:%M UTC')
+          echo -e "# Reachy Mini Documentation\n\n**Version:** $VERSION\n**Generated:** $DATE\n" > doc_reachy_mini_full.md
+          cat README.md doc.md $(find docs -type f -name '*.md' | sort) >> doc_reachy_mini_full.md
+          echo -e "\n# Examples\n" >> doc_reachy_mini_full.md
+          for f in $(find examples -type f -name '*.py' | sort); do
+            echo -e "\n## $(basename "$f")\n" >> doc_reachy_mini_full.md
+            cat "$f" >> doc_reachy_mini_full.md
+          done
+      - name: Install GitHub CLI
+        run: sudo apt-get update && sudo apt-get install -y gh
+      - name: Upload doc_reachy_mini_full.md to Gist
+        env:
+          GH_TOKEN: ${{ secrets.GH_TOKEN }}
+        run: |
+          gh gist edit 919e1d7468fb16e70dbe984bdc277bba doc_reachy_mini_full.md --desc "Reachy Mini documentation and examples"
diff --git a/README.md b/README.md
index 1303583c..0b68dc72 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,7 @@
 # Reachy Mini
 
+[![Ask on HuggingChat](https://img.shields.io/badge/Ask_on-HuggingChat-yellow?logo=huggingface&logoColor=yellow&style=for-the-badge)](https://huggingface.co/chat/?attachments=https%3A%2F%2Fgist.githubusercontent.com%2FFabienDanieau%2F919e1d7468fb16e70dbe984bdc277bba%2Fraw%2Fdoc_reachy_mini_full.md&prompt=Read%20this%20documentation%20about%20Reachy%20Mini%20so%20I%20can%20ask%20questions%20about%20it.)
+
 > ⚠️ Reachy Mini is still in beta. Expect bugs, some of them we won't fix right away if they are not a priority.
 
 [Reachy Mini](https://www.pollen-robotics.com/reachy-mini/) is an expressive, open-source robot designed for human-robot interaction, creative coding, and AI experimentation. We made it to be affordable, easy to use, hackable and cute, so that you can focus on building cool AI applications!