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license: apache-2.0
tags:
- robotics
- reinforcement-learning
- exoskeleton
- distillation
library_name: pytorch
pipeline_tag: reinforcement-learning
authors:
- Dong Liu
- Yanxuan Yu
- Ben Lengerich
- Tong Geng
- Ying Nian Wu
---
# OLIVE BaseController (W₀)
Frozen base policy for [OLIVE](https://github.com/FastLM/OLIVE): a compact multimodal
controller mapping on-body sensors (IMU, joints, EMG, vibration, context) to
bilateral hip torques. Distilled from Physical Intelligence π₀.₅ / openpi and
kept frozen during online low-rank adaptation.
Paper: https://huggingface.co/papers/2606.05234
## Authors
Dong Liu, Yanxuan Yu, Ben Lengerich, Tong Geng, Ying Nian Wu
## Files
| File | Description |
|------|-------------|
| `pytorch_model.bin` | PyTorch `BaseController` state dict |
| `base_controller_w0.bin` | C++ runtime layout (`OLIVEModel::load_base_weights`) |
| `config.json` | Architecture hyperparameters |
## Load
```python
import torch
from distillation.student import BaseController
model = BaseController()
model.load_state_dict(torch.load("pytorch_model.bin", map_location="cpu"))
model.eval()
```
```bash
./olive_deploy base_controller_w0.bin
```
## Links
- Paper: https://huggingface.co/papers/2606.05234
- Code: https://github.com/FastLM/OLIVE
|