reppo/experiment_plan.md

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 - COMPLETED

• ant, cheetah, humanoid, walker, hopper
• Results: https://wandb.ai/dominik_roth/reppo_brax_production

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:

python submit_experiments.py --experiment brax --seeds 5
python submit_experiments.py --experiment mjx --seeds 5  
python submit_experiments.py --experiment maniskill --seeds 5