Prague public transit (more information here):
Station "Nadrazi Holesovice" of metro C (red line) and there take any of the bus lines 112, 102, 186 to the second stop (which is the first stop just after the Vltava River). The name of the stop is "Pelc-Tyrolka" (for line 112) or "Kuchynka" (for the others).