---
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