@article{hordrobusthumanoidcontrolviahistorycondi,
  title = {HoRD: Robust Humanoid Control via History-Conditioned Reinforcement Learning and Online Distillation},
  author = {Puyue Wang and Jiawei Hu and Yan Gao and Junyan Wang and Yu Zhang and Gillian Dobbie and Tao Gu and Wafa Johal and Ting Dang and Hong Jia},
  year = {2026},
  eprint = {2602.04412},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2602.04412},
}