diff --git a/amp_rsl_rl/runners/amp_on_policy_runner.py b/amp_rsl_rl/runners/amp_on_policy_runner.py
index c8d8350..3e7f351 100644
--- a/amp_rsl_rl/runners/amp_on_policy_runner.py
+++ b/amp_rsl_rl/runners/amp_on_policy_runner.py
@@ -154,13 +154,16 @@ def __init__(self, env: VecEnv, train_cfg, log_dir=None, device="cpu"):
         # Initilize all the ingredients required for AMP (discriminator, dataset loader)
         num_amp_obs = extras["observations"]["amp"].shape[1]
         amp_data = AMPLoader(
-            self.device,
-            self.cfg["amp_data_path"],
-            self.cfg["dataset_names"],
-            self.cfg["dataset_weights"],
-            delta_t,
-            self.cfg["slow_down_factor"],
-            actuated_joint_names,
+            device=self.device,
+            dataset_path_root=self.cfg.get("amp_data_path", None),
+            dataset_names=self.cfg["dataset_names"],
+            dataset_weights=self.cfg["dataset_weights"],
+            simulation_dt=delta_t,
+            slow_down_factor=self.cfg["slow_down_factor"],
+            expected_joint_names=actuated_joint_names,
+            download_from_hf=self.cfg.get("download_from_hf", False),
+            robot_folder=self.cfg.get("robot_folder", None),
+            repo_id=self.cfg.get("repo_id", None),
         )
 
         # self.env.unwrapped.scene["robot"].joint_names)
diff --git a/amp_rsl_rl/utils/motion_loader.py b/amp_rsl_rl/utils/motion_loader.py
index 00c7ae0..5116aee 100644
--- a/amp_rsl_rl/utils/motion_loader.py
+++ b/amp_rsl_rl/utils/motion_loader.py
@@ -2,13 +2,13 @@
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
-
 from pathlib import Path
-from typing import List, Union, Tuple, Generator
+from typing import List, Union, Tuple, Generator, Optional
 from dataclasses import dataclass
 
 import torch
 import numpy as np
+import platformdirs
 from scipy.spatial.transform import Rotation, Slerp
 from scipy.interpolate import interp1d
 
@@ -185,22 +185,53 @@ class AMPLoader:
         simulation_dt: Timestep used by the simulator
         slow_down_factor: Integer factor to slow down original data
         expected_joint_names: (Optional) override for joint ordering
+        download_from_hf: (Optional) download datasets from Hugging Face
+        robot_folder: (Optional) folder in the Hugging Face dataset repo
+        repo_id: (Optional) Hugging Face repository ID
     """
 
     def __init__(
         self,
         device: str,
-        dataset_path_root: Path,
         dataset_names: List[str],
         dataset_weights: List[float],
         simulation_dt: float,
         slow_down_factor: int,
-        expected_joint_names: Union[List[str], None] = None,
+        dataset_path_root: Optional[Union[str, Path]] = None,
+        expected_joint_names: Optional[List[str]] = None,
+        download_from_hf: Optional[bool] = False,
+        robot_folder: Optional[str] = "ergocub",
+        repo_id: Optional[str] = None,
     ) -> None:
         self.device = device
-        if isinstance(dataset_path_root, str):
+
+        if download_from_hf:
+            print("Downloading datasets from Hugging Face.")
+            if dataset_path_root is None:
+                print(
+                    "Warning: `dataset_path_root` is None. "
+                    "A cache directory will be used."
+                )
+
+                # Create a cache directory for downloading
+                dataset_path_root = platformdirs.user_cache_path(
+                    appname="amp-rsl-rl",
+                    appauthor="ami-iit",
+                    ensure_exists=True,
+                )
+                print(f"Cache directory: {dataset_path_root}")
+
+            # Convert dataset path to Path object for easier handling
             dataset_path_root = Path(dataset_path_root)
 
+            # Download dataset from Hugging Face
+            dataset_names = download_amp_dataset_from_hf(
+                dataset_path_root,
+                robot_folder=robot_folder or "ergocub",
+                files=[f"{name}.npy" for name in dataset_names],
+                repo_id=repo_id or "ami-iit/amp-dataset",
+            )
+
         # ─── Build union of all joint names if not provided ───
         if expected_joint_names is None:
             joint_union: List[str] = []
diff --git a/pyproject.toml b/pyproject.toml
index 0af7188..1977192 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -32,6 +32,7 @@ classifiers = [  # Added standard PyPI classifiers
 keywords = ["reinforcement-learning", "robotics", "motion-priors", "ppo"]
 dependencies = [
     "numpy>=1.21.0",
+    "platformdirs>=4.0.0",
     "scipy>=1.7.0",
     "torch>=1.10.0",
     "rsl-rl-lib>=2.3.0",