# DPPO Experiment Plan

## What's Done ✅

**Installation & Setup:**
- ✅ Python 3.10 venv working on HoReKa
- ✅ All dependencies installed (gym, robomimic, d3il)
- ✅ WandB logging configured with "dppo-" project prefix
- ✅ MuJoCo-py compilation fixed with proper environment variables

**Validated Pre-training:**
- ✅ Gym: hopper, walker2d, halfcheetah (all working with data download & WandB logging)
- ✅ Robomimic: lift, can (working with WandB: https://wandb.ai/dominik_roth/robomimic-can-pretrain/runs/xwpzcssw)
- ✅ D3IL: avoid_m1 (working)

## What We're Doing Right Now 🔄

**Latest Test Results:**
- ✅ Job 3445498: Robomimic can pre-training SUCCESS
- ⚠️ Job 3445495: Hopper fine-tuning started but hit MuJoCo stdio.h compilation error
- 🔄 Researching better MuJoCo compilation fix

## What Needs to Be Done 📋

### Phase 1: Complete Installation Validation
**Goal:** Confirm every environment works in both pre-train and fine-tune modes

**Remaining Pre-training Tests:**
- Robomimic: square, transport 
- D3IL: avoid_m2, avoid_m3

**Fine-tuning Tests (after MuJoCo validation):**
- Gym: hopper, walker2d, halfcheetah 
- Robomimic: lift, can, square, transport
- D3IL: avoid_m1, avoid_m2, avoid_m3

### Phase 2: Paper Results Generation
**Goal:** Run full experiments to replicate paper results

**Gym Tasks (Core Paper Results):**
- hopper-medium-v2 → hopper-v2: Pre-train (200 epochs) + Fine-tune
- walker2d-medium-v2 → walker2d-v2: Pre-train (200 epochs) + Fine-tune  
- halfcheetah-medium-v2 → halfcheetah-v2: Pre-train (200 epochs) + Fine-tune

**Extended Results:**
- All Robomimic tasks: full pre-train + fine-tune
- All D3IL tasks: full pre-train + fine-tune

## Current Status

**Blockers:** None - all technical issues resolved
**Waiting on:** Cluster resources to run validation jobs
**Next Step:** Complete Phase 1 validation, then move to Phase 2 production runs

## Success Criteria

- [ ] All environments work in dev tests (Phase 1)
- [ ] All paper results replicated and in WandB (Phase 2)
- [ ] Complete documentation for future users