# REPPO Experiment Plan

## Proof of Concept Success
✅ **Working Implementation**: https://wandb.ai/dominik_roth/reppo_dev_test?nw=nwuserdominik_roth

## Experiments To Run

### 1. Reproduce Paper Results

**Brax Suite**: 5 tasks (test first - already working)
- ant, cheetah, humanoid, walker, hopper

**DMC Suite (mujoco_playground)**: 23 tasks  
- AcrobotSwingup, CartpoleBalance, CheetahRun, FingerSpin, HumanoidRun, WalkerRun, etc.

**ManiSkill Suite**: 8 tasks (need wrapper first)
- PickSingleYCB-v1, PegInsertionSide-v1, UnitreeG1TransportBox-v1, etc.

**Settings**: 50M steps, 1024 envs, 5 seeds each, paper hyperparameters

## Scripts Needed

### `submit_experiments.py`
Uses existing working SLURM script:
```bash
python submit_experiments.py --experiment brax --seeds 5
python submit_experiments.py --experiment mjx --seeds 5  
python submit_experiments.py --experiment maniskill --seeds 5
```