diff --git a/dimos/simulation/mujoco/policy.py b/dimos/simulation/mujoco/policy.py
index 00491b4379..212c7ac60a 100644
--- a/dimos/simulation/mujoco/policy.py
+++ b/dimos/simulation/mujoco/policy.py
@@ -20,9 +20,12 @@
 
 import mujoco
 import numpy as np
-import onnxruntime as rt  # type: ignore[import-untyped]
+import onnxruntime as ort  # type: ignore[import-untyped]
 
 from dimos.simulation.mujoco.input_controller import InputController
+from dimos.utils.logging_config import setup_logger
+
+logger = setup_logger()
 
 
 class OnnxController(ABC):
@@ -37,7 +40,8 @@ def __init__(
         drift_compensation: list[float] | None = None,
     ) -> None:
         self._output_names = ["continuous_actions"]
-        self._policy = rt.InferenceSession(policy_path, providers=["CPUExecutionProvider"])
+        self._policy = ort.InferenceSession(policy_path, providers=ort.get_available_providers())
+        logger.info(f"Loaded policy: {policy_path} with providers: {self._policy.get_providers()}")
 
         self._action_scale = action_scale
         self._default_angles = default_angles