Fix WandB config issue and achieve working DPPO setup

- Disable WandB in dev script to avoid config object vs string error
- Successfully completed development test (Job 3445106)
- Confirmed: pre-training works, loss reduces, checkpoints save
- Update experiment tracking with successful results

EXPERIMENT_PLAN.md

@@ -8,10 +8,11 @@
 - All dependencies installed including PyTorch, d4rl, dm-control
 
 ### Initial Testing
-🔄 **Job ID 3445081**: Development test (30min) - PENDING
-- Command: `./submit_job.sh dev`
-- Status: Waiting for resources on dev_accelerated partition
-- Purpose: Verify DPPO can run on HoReKa with basic pre-training
+✅ **DPPO Confirmed Working on HoReKa**
+- Successfully completed dev test (Job ID 3445106)
+- Pre-training working: 2 epochs, loss reduction 0.2494→0.2010
+- Model checkpoints saved correctly
+- Ready for full experiments
 
 ## Experiments To Run
 
@@ -71,7 +72,7 @@ TASK=hopper MODE=pretrain sbatch slurm/run_dppo_gym.sh
 
 | Job ID | Type | Task | Mode | Status | Duration | Results |
 |--------|------|------|------|---------|----------|---------|
-| - | - | - | - | - | - | - |
+| 3445106 | dev test | hopper | pretrain | ✅ SUCCESS | 2m11s | Train loss: 0.2494→0.2010 |
 
 ## Configuration Notes
 

slurm/run_dppo_dev.sh

@@ -41,11 +41,11 @@ echo "PyTorch version: $(python -c 'import torch; print(torch.__version__)')"
 echo "CUDA available: $(python -c 'import torch; print(torch.cuda.is_available())')"
 echo ""
 
-# Run a quick pre-training test with reduced epochs
+# Run a quick pre-training test with reduced epochs (disable WandB for dev test)
 python script/run.py --config-name=pre_diffusion_mlp \
     --config-dir=cfg/gym/pretrain/hopper-medium-v2 \
     train.n_epochs=2 \
     train.save_model_freq=1 \
-    wandb=${WANDB_MODE:-null}
+    wandb=null
 
 echo "Dev test completed!"