diff --git a/src/holosoma/holosoma/config_types/env.py b/src/holosoma/holosoma/config_types/env.py
index a296d5c2..01d20c55 100644
--- a/src/holosoma/holosoma/config_types/env.py
+++ b/src/holosoma/holosoma/config_types/env.py
@@ -34,6 +34,7 @@ class EnvConfig:
     robot: RobotConfig
     training: TrainingConfig
     logger: LoggerConfig
+    experiment_dir: str | None = None
 
 
 def get_tyro_env_config(tyro_config: ExperimentConfig) -> EnvConfig:
diff --git a/src/holosoma/holosoma/envs/base_task/base_task.py b/src/holosoma/holosoma/envs/base_task/base_task.py
index e46675a6..9e23cd5a 100644
--- a/src/holosoma/holosoma/envs/base_task/base_task.py
+++ b/src/holosoma/holosoma/envs/base_task/base_task.py
@@ -1,5 +1,7 @@
 from __future__ import annotations
 
+from pathlib import Path
+
 import numpy as np
 
 from holosoma.config_types.env import EnvConfig
@@ -14,6 +16,7 @@
 from holosoma.managers.termination import TerminationManager
 from holosoma.managers.terrain import TerrainManager
 from holosoma.simulator.base_simulator.base_simulator import BaseSimulator
+from holosoma.utils.experiment_paths import get_experiment_dir, get_timestamp
 from holosoma.utils.helpers import get_class
 from holosoma.utils.safe_torch_import import torch
 from holosoma.utils.torch_utils import to_torch
@@ -76,13 +79,15 @@ def __init__(
         torch._C._jit_set_profiling_mode(False)
         torch._C._jit_set_profiling_executor(False)
 
-        # Compute experiment directory from logger config
-        from holosoma.utils.experiment_paths import get_experiment_dir, get_timestamp
-
-        timestamp = get_timestamp()
-        experiment_dir = get_experiment_dir(
-            tyro_config.logger, tyro_config.training, timestamp, task_name=self._get_task_name()
-        )
+        # Use pre-computed experiment directory if provided (from train_agent.py),
+        # otherwise compute one (for replay, eval, etc.)
+        if tyro_config.experiment_dir is not None:
+            experiment_dir = Path(tyro_config.experiment_dir)
+        else:
+            timestamp = get_timestamp()
+            experiment_dir = get_experiment_dir(
+                tyro_config.logger, tyro_config.training, timestamp, task_name=self._get_task_name()
+            )
 
         SimulatorClass = get_class(simulator_config._target_)
         full_sim_config = FullSimConfig(
diff --git a/src/holosoma/holosoma/train_agent.py b/src/holosoma/holosoma/train_agent.py
index a6a40546..44e918f2 100644
--- a/src/holosoma/holosoma/train_agent.py
+++ b/src/holosoma/holosoma/train_agent.py
@@ -249,6 +249,7 @@ def train(tyro_config: ExperimentConfig, training_context: TrainingContext | Non
         env_target = tyro_config.env_class
 
         tyro_env_config = get_tyro_env_config(tyro_config)
+        tyro_env_config = dataclasses.replace(tyro_env_config, experiment_dir=str(experiment_dir))
         env = get_class(env_target)(tyro_env_config, device=device)
 
         # For manager system, pre-process config AFTER env creation