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

Links

• Paper: https://huggingface.co/papers/2606.05234
• Code: https://github.com/FastLM/OLIVE