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README.md

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----
-license: mit
----
+---
+license: mit
+pretty_name: HoRD Dataset
+language:
+- en
+tags:
+- robotics
+- humanoid-robot
+- reinforcement-learning
+- motion-imitation
+- sim2sim
+---
+
+# HoRD Dataset: Processed Motion Data for Robust Humanoid Control
+
+This dataset card describes the processed training data used by **HoRD** (History-Conditioned Reinforcement Learning and Online Distillation), a two-stage framework for robust humanoid motion control under domain shift.
+
+- **Paper**: [HoRD: Robust Humanoid Control via History-Conditioned Reinforcement Learning and Online Distillation](https://arxiv.org/abs/2602.04412)
+- **Project Page**: [https://tonywang-0517.github.io/hord/](https://tonywang-0517.github.io/hord/)
+- **Code Repository**: [https://github.com/tonywang-0517/hord](https://github.com/tonywang-0517/hord)
+- **Dataset Repository**: [https://huggingface.co/datasets/tony0517/HoRD](https://huggingface.co/datasets/tony0517/HoRD)
+- **Model Repository**: [https://huggingface.co/tony0517/HoRD](https://huggingface.co/tony0517/HoRD)
+
+## Overview
+
+The HoRD dataset provides processed motion data for humanoid policy training. It is designed for the HoRD teacher-student pipeline:
+
+- **Stage 1 (Teacher RL)**: train an expert policy with privileged observations and domain randomization.
+- **Stage 2 (Online Distillation)**: distill to a deployable student policy with sparse commands and partial observations.
+
+In HoRD, this data supports robust motion imitation and zero-shot transfer experiments across simulators.
+
+## Dataset Contents
+
+Current primary release:
+
+- `train_g1_all.pt`: processed motion data used for training and evaluation configuration.
+
+## Quick Start
+
+Install Hugging Face CLI:
+
+```bash
+pip install -U "huggingface_hub[cli]"
+```
+
+Download the dataset file:
+
+```bash
+mkdir -p data
+huggingface-cli download --repo-type=dataset tony0517/HoRD train_g1_all.pt --local-dir data --local-dir-use-symlinks False
+```
+
+Use in HoRD training/evaluation:
+
+```bash
+motion_file=data/train_g1_all.pt
+```
+
+## Example Training Commands
+
+Stage 1:
+
+```bash
+python hord/train_agent.py +exp=full_body_tracker/transformer +robot=g1 +simulator=isaaclab motion_file=data/train_g1_all.pt +experiment_name=full_body_tracker_g1 ++headless=True
+```
+
+Stage 2:
+
+```bash
+python hord/train_agent.py +exp=masked_mimic/no_vae +robot=g1 +simulator=isaaclab motion_file=data/train_g1_all.pt +experiment_name=masked_mimic_g1 ++headless=True
+```
+
+## License
+
+This dataset card is released under the **MIT License**.  
+Please also follow the licenses and terms of any upstream data sources used in preprocessing.
+
+## Citation
+
+If you find this dataset useful, please cite:
+
+```bibtex
+@article{wang2026hord,
+  title={HoRD: Robust Humanoid Control via History-Conditioned Reinforcement Learning and Online Distillation},
+  author={Wang, Puyue and Hu, Jiawei and Gao, Yan and Wang, Junyan and Zhang, Yu and Dobbie, Gillian and Gu, Tao and Johal, Wafa and Dang, Ting and Jia, Hong},
+  journal={arXiv preprint arXiv:2602.04412},
+  year={2026}
+}
+```