From e95c2c4e1155ee4c61121fc31a7c3c1ba3d39bd4 Mon Sep 17 00:00:00 2001
From: "ys1087@partner.kit.edu" <ys1087@hkn1991.localdomain>
Date: Tue, 22 Jul 2025 17:12:05 +0200
Subject: [PATCH] Update experiment plan to TODO format with running jobs

- Added currently running SLURM job IDs (3367710-3367723)
- Converted to TODO list format with checkboxes
- Added reminders to install IsaacLab and HumanoidBench before Phase 2/3
- Phase 1 (MuJoCo) batch submitted and pending in queue
---
 experiment_plan.md | 102 ++++++++++++++++++++++++++-------------------
 1 file changed, 59 insertions(+), 43 deletions(-)

diff --git a/experiment_plan.md b/experiment_plan.md
index 8601ee7..4c09d00 100644
--- a/experiment_plan.md
+++ b/experiment_plan.md
@@ -10,58 +10,74 @@
 - **Key Achievement**: Fixed JAX/PyTorch dtype mismatch issue (removed JAX_ENABLE_X64)
 - **Status**: ✅ Environment working, ready for full-scale experiments
 
-## Experiments to Replicate
+## 🚧 Currently Running Jobs
+
+### Phase 1: MuJoCo Playground - SUBMITTED ✅
+**SLURM Job IDs**: 3367710-3367723 (12 jobs total)
+- ⏳ T1JoystickFlatTerrain (seeds 1,2,3) - Jobs: 3367710, 3367711, 3367712
+- ⏳ T1JoystickRoughTerrain (seeds 1,2,3) - Jobs: 3367713, 3367716, 3367717  
+- ⏳ G1JoystickFlatTerrain (seeds 1,2,3) - Jobs: 3367718, 3367719, 3367720
+- ⏳ G1JoystickRoughTerrain (seeds 1,2,3) - Jobs: 3367721, 3367722, 3367723
+- **Status**: All jobs pending in queue
+- **Monitor**: `python monitor_experiments.py logs/experiment_tracking_1753196960.yaml --watch`
+
+## 📋 TODO List
+
+### Phase 1: MuJoCo Playground 
+- [x] Set up MuJoCo Playground environment
+- [x] Test 5000-step run successfully  
+- [x] Submit full batch (4 tasks × 3 seeds)
+- [ ] Wait for jobs to complete (~1 hour each)
+- [ ] Verify results match paper Figure 11
+- [ ] Download wandb data for analysis
+
+### Phase 2: IsaacLab
+- [ ] **INSTALL ISAACLAB ENVIRONMENT FIRST**
+- [ ] Test single IsaacLab task
+- [ ] Submit batch: `python submit_experiment_batch.py --phase 2 --seeds 3`
+- [ ] Monitor 6 tasks × 3 seeds (18 jobs total)
+- [ ] Verify results match paper Figure 10
+
+### Phase 3: HumanoidBench  
+- [ ] **INSTALL HUMANOIDBENCH ENVIRONMENT FIRST**
+- [ ] Test single HumanoidBench task
+- [ ] Submit batch: `python submit_experiment_batch.py --phase 3 --seeds 3`
+- [ ] Monitor 5 tasks × 3 seeds (15 jobs total) 
+- [ ] Verify results match paper Figure 9
+
+### Analysis & Completion
+- [ ] Collect all results from wandb
+- [ ] Generate comparison plots vs paper
+- [ ] Document findings and performance
+- [ ] Create final report
+
+## 📊 Experiment Details
 
 ### Phase 1: MuJoCo Playground (Figure 11 from paper)
-- `T1JoystickFlatTerrain` (3600s)
-- `T1JoystickRoughTerrain` (3600s)
-- `G1JoystickFlatTerrain` (3600s)  
-- `G1JoystickRoughTerrain` (3600s)
+- `T1JoystickFlatTerrain`, `T1JoystickRoughTerrain`, `G1JoystickFlatTerrain`, `G1JoystickRoughTerrain`
+- **Duration**: 3600s each
+- **Hyperparameters**: total_timesteps=500000, num_envs=2048, batch_size=32768, buffer_size=102400, eval_interval=25000
 
-**Hyperparameters (from paper):**
-- total_timesteps: 500000
-- num_envs: 2048
-- batch_size: 32768
-- buffer_size: 102400 (50K per env)
-- eval_interval: 25000
-
-### Phase 2: IsaacLab (Figure 10 from paper)
-- `Isaac-Velocity-Flat-G1-v0` (3600s)
-- `Isaac-Velocity-Rough-G1-v0` (3600s)
-- `Isaac-Repose-Cube-Allegro-Direct-v0` (3600s)
-- `Isaac-Repose-Cube-Shadow-Direct-v0` (3600s)
-- `Isaac-Velocity-Flat-H1-v0` (3600s)
-- `Isaac-Velocity-Rough-H1-v0` (3600s)
-
-**Hyperparameters:**
-- total_timesteps: 1000000
-- num_envs: 1024
-- batch_size: 32768
-- buffer_size: 51200
-- eval_interval: 50000
+### Phase 2: IsaacLab (Figure 10 from paper)  
+- `Isaac-Velocity-Flat-G1-v0`, `Isaac-Velocity-Rough-G1-v0`, `Isaac-Repose-Cube-Allegro-Direct-v0`, `Isaac-Repose-Cube-Shadow-Direct-v0`, `Isaac-Velocity-Flat-H1-v0`, `Isaac-Velocity-Rough-H1-v0`
+- **Duration**: 3600s each  
+- **Hyperparameters**: total_timesteps=1000000, num_envs=1024, batch_size=32768, buffer_size=51200, eval_interval=50000
 
 ### Phase 3: HumanoidBench (Figure 9 from paper - subset)
-- `h1hand-walk` (10800s)
-- `h1hand-run` (10800s) 
-- `h1hand-hurdle` (10800s)
-- `h1hand-stair` (10800s)
-- `h1hand-slide` (10800s)
+- `h1hand-walk`, `h1hand-run`, `h1hand-hurdle`, `h1hand-stair`, `h1hand-slide`  
+- **Duration**: 10800s each
+- **Hyperparameters**: total_timesteps=2000000, num_envs=256, batch_size=16384, buffer_size=12800, eval_interval=100000
 
-**Hyperparameters:**
-- total_timesteps: 2000000
-- num_envs: 256
-- batch_size: 16384
-- buffer_size: 12800
-- eval_interval: 100000
+## 🔧 Commands
 
-## Usage
-
-Submit Phase 1:
+Monitor jobs:
 ```bash
-python submit_experiment_batch.py --phase 1 --seeds 3
+squeue -u $USER
+python monitor_experiments.py logs/experiment_tracking_1753196960.yaml --watch
 ```
 
-Monitor progress:
+Submit next phases:
 ```bash
-python monitor_experiments.py --watch
+python submit_experiment_batch.py --phase 2 --seeds 3
+python submit_experiment_batch.py --phase 3 --seeds 3
 ```
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