diff --git a/scripts/run_dreamwaq_sim2sim.sh b/scripts/run_dreamwaq_sim2sim.sh
new file mode 100755
index 0000000..c63aa85
--- /dev/null
+++ b/scripts/run_dreamwaq_sim2sim.sh
@@ -0,0 +1,124 @@
+#!/usr/bin/env bash
+set -Eeuo pipefail
+
+SCRIPT_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_DIR="$(cd -- "${SCRIPT_DIR}/.." && pwd)"
+RUNS_DIR="${PROJECT_DIR}/runs/go1-dreamwaq-walk/rslrl"
+
+checkpoint=""
+output=""
+terrain="flat"
+level="0"
+export_only=false
+
+usage() {
+    cat <<'EOF'
+Export a DreamWaQ checkpoint to ONNX and run MuJoCo sim2sim.
+
+Usage:
+  scripts/run_dreamwaq_sim2sim.sh [options]
+
+Options:
+  -c, --checkpoint PATH  Checkpoint to export. Defaults to the newest model_*.pt.
+  -o, --output PATH      ONNX output path. Defaults to policy.onnx beside checkpoint.
+  -t, --terrain NAME     flat, rough, stairs, dreamwaq, stairs_test,
+                         stairs_box, or flat_stairs. Default: flat.
+  -l, --level N          Terrain difficulty level passed to sim2sim. Default: 0.
+      --export-only      Export and validate ONNX without starting MuJoCo.
+  -h, --help             Show this help.
+
+Examples:
+  scripts/run_dreamwaq_sim2sim.sh
+  scripts/run_dreamwaq_sim2sim.sh -c runs/.../model_1200.pt
+  scripts/run_dreamwaq_sim2sim.sh -t dreamwaq -l 3
+EOF
+}
+
+die() {
+    echo "[ERROR] $*" >&2
+    exit 1
+}
+
+while (($#)); do
+    case "$1" in
+        -c|--checkpoint)
+            (($# >= 2)) || die "$1 requires a path"
+            checkpoint="$2"
+            shift 2
+            ;;
+        -o|--output)
+            (($# >= 2)) || die "$1 requires a path"
+            output="$2"
+            shift 2
+            ;;
+        -t|--terrain)
+            (($# >= 2)) || die "$1 requires a terrain name"
+            terrain="$2"
+            shift 2
+            ;;
+        -l|--level)
+            (($# >= 2)) || die "$1 requires an integer"
+            level="$2"
+            shift 2
+            ;;
+        --export-only)
+            export_only=true
+            shift
+            ;;
+        -h|--help)
+            usage
+            exit 0
+            ;;
+        *)
+            die "unknown argument: $1 (use --help)"
+            ;;
+    esac
+done
+
+case "$terrain" in
+    flat|rough|stairs|dreamwaq|stairs_test|stairs_box|flat_stairs) ;;
+    *) die "unsupported terrain: ${terrain}" ;;
+esac
+[[ "$level" =~ ^[0-9]+$ ]] || die "level must be a non-negative integer: ${level}"
+command -v uv >/dev/null 2>&1 || die "uv is not available in PATH"
+
+if [[ -z "$checkpoint" ]]; then
+    [[ -d "$RUNS_DIR" ]] || die "run directory not found: ${RUNS_DIR}"
+    checkpoint="$({
+        find "$RUNS_DIR" -type f -name 'model_*.pt' -printf '%T@ %p\n'
+    } | sort -nr | sed -n '1{s/^[^ ]* //;p;}')"
+    [[ -n "$checkpoint" ]] || die "no model_*.pt checkpoint found under ${RUNS_DIR}"
+fi
+
+if [[ "$checkpoint" != /* ]]; then
+    checkpoint="${PROJECT_DIR}/${checkpoint}"
+fi
+[[ -f "$checkpoint" ]] || die "checkpoint not found: ${checkpoint}"
+
+if [[ -z "$output" ]]; then
+    output="$(dirname -- "$checkpoint")/policy.onnx"
+elif [[ "$output" != /* ]]; then
+    output="${PROJECT_DIR}/${output}"
+fi
+mkdir -p -- "$(dirname -- "$output")"
+
+echo "[Pipeline] checkpoint: ${checkpoint}"
+echo "[Pipeline] ONNX:       ${output}"
+
+cd -- "$PROJECT_DIR"
+uv run scripts/export_dreamwaq_onnx_new.py \
+    --checkpoint "$checkpoint" \
+    --output "$output"
+
+[[ -s "$output" ]] || die "ONNX export did not produce a non-empty file: ${output}"
+echo "[Pipeline] ONNX export complete"
+
+if [[ "$export_only" == true ]]; then
+    exit 0
+fi
+
+echo "[Pipeline] starting MuJoCo: terrain=${terrain}, level=${level}"
+exec uv run scripts/dreamwaq_sim2sim_mujoco.py \
+    --onnx "$output" \
+    --terrain "$terrain" \
+    --level "$level"