metadata
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: 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
import torch
from distillation.student import BaseController
model = BaseController()
model.load_state_dict(torch.load("pytorch_model.bin", map_location="cpu"))
model.eval()
./olive_deploy base_controller_w0.bin