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Add Longest6v1 eval and Alpasim eval. Reduce overspeed reward to similar magnitude as comfort, - #601

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Kait0 wants to merge 64 commits into
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Add Longest6v1 eval and Alpasim eval. Reduce overspeed reward to similar magnitude as comfort, #601
Kait0 wants to merge 64 commits into
3.0from
11_bernhard_dev

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@Kait0

@Kait0 Kait0 commented Oct 13, 2026 •
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  • add longest6 v1 eval cosim
  • add Alpasim eval cosim
  • Reduce overspeed reward to similar like comfort
  • Remove shoulder lanes outside of intersections as drivable areas to prevent static collisions in CARLA
  • Increase pedestrian size by + 0.8m in cosim
  • Add blind agent changes from Valentin
  • Many smaller bug fixes
  • Split too long vehicles at eval time
  • Fix obs visualization
  • Remove stride 2 in center lane elements
  • Efficiency improvement to speedup training (+ ~50% compared to 3.0)

Run:
https://forge.coreweave.com/wandb/emerge_/nightly-multi-long/runs/k_scaled_0048_1000?nw=nwuserbern_jaeger

Evals:

Self-play: 1M km/infraction (similar to before)
Longest6: 80DS (new, target 94 DS)
Longest6 v2: 51 DS (up from 48 DS)
nuPlan reactive: 91.1 (similar to before)
nuPlan non-reactive: 88.3 (similar to before)
AlpaSim Score: 76.7 (new)
AlpaSim km/infraction at fault: 8.9 (new)

(this number are from k_scaled_0045 and will be updated).

Kait0 added 30 commits October 5, 2026 15:31
@Kait0
Reapply "k_scaled_0045 reduce speed limit penalty by 30x"
cd0a64a 
This reverts commit 74b44c2.
@Kait0
update default values in config to latest training config. Add S3 upl…
53692a9 
…oad for the maps.
@Kait0
Added Carla leaderboard 1.0 cosim. Speed up training with better comm…
1ed2d30 
…unication allowing higher env count per CPU.
@Kait0
use double the envs on th elcuster
1567f6a
@Kait0
increase eval envs
82d0b2c
@Kait0
Add fused network. and tuning scripts.
164891c
@Kait0
Add Damianos changes for Alpasim cosim.
2fe6586
@Kait0
rerun nuPlan
76579bd
@Kait0
Update H100 kernel tuning
f2dbb2d
@Kait0
measure mfu on cluster
364d738
@Kait0
update kernel tuning H100
bd95191
@Kait0
update mfu bench
e48a16d
@Kait0
fix longest6 eval
aa9ab0b
@Kait0
update mfu bench
110726c
@Kait0
speedup simulation code. set speed limit reward condition to max at e…
ac785ab 
…val time.
@Kait0
fix alpasim eval
5cf63db
@Kait0
update alpasim
0d6fd7e
@Kait0
reeval model with speed limit compliance.
4954e2d
@Kait0
k_scaled_0046 500B + optimizations
51e861c
@Kait0
fix leaderboard stop sign and red light bugs
243f05e
@Kait0
change nurec folder
8a95cf4
@Kait0
Merge branch '11_bernhard_dev' of https://github.com/Emerge-Lab/Puffe…
4a38757 
…rDrive into 11_bernhard_dev
@Kait0
add defaults
9a16107
@Kait0
fix leaderboard 2.0 red light lines
87d70c1
@Kait0
fix red light issue and shadow env bug
c09b879
@Kait0
add pos of infraction to html renderer
ff9de50
@Kait0
fix alpasim script
2914067
@Kait0
new alpasim fix
8e89492
@Kait0
update alpasim script
a8d19f9
@Kait0
remove obsolete comment
e1e8a80
vcharraut and others added 30 commits October 8, 2026 21:35
@vcharraut
Update partner blindness comments and logic for visibility corridor
2116363
@Kait0
update maps to exclude shoulder lanes outside intersections.
c800540
@Kait0
update path
98128b5
@Kait0
remove nuPlan floor and add an option to increase pedestrian size by …
721b79d 
…0.8.
@Kait0
remove pedestrian floor.
cd8941c
@Kait0
rerun alpasim with goal radius 2
16b693a
@Kait0
fix longest6 bug, fix vizu bug, fix bug of stride 2 for center lines.
ea45faf
@Kait0
Merge branch '11_bernhard_dev' of https://github.com/Emerge-Lab/Puffe…
9fd976f 
…rDrive into 11_bernhard_dev
@Kait0
remove uneccesary alpasim logs
0dbc569
@Kait0
visu fixes, and build carla eval hack to set speed limits to 20 km/h …
805fa56 
…if a pedestrian is near
@Kait0
Merge remote-tracking branch 'origin/vcha/partner-blindness-corridor'…
ff889b2 
… into 11_bernhard_dev
@Kait0
update map to fix shoulders in intersections. add blind agents corrid…
96c200d 
…or with margin
@Kait0
0048
7e38f39 
env.obs_stride_merge_segments=true
Maps v17 fix shoulders in intersections
Blind partners see a forward corridor
some minor stuff
@Kait0
fix unit tests.
7c22e96
@Kait0
index.html for alpasim
c7c6c37
@Kait0
tidy up alpasim eval after the run
46db9ef
@Kait0
change stop signs in alpasim maps
7700804
@Kait0
fix compiler warning
34551d3
@Kait0
format only
19f635d
@Kait0
Fix problem with triton missing in the golden
a86953c
@Kait0
update golden
c034e08
@Kait0
Make pedestrian change optional and test it. Fix bug in maps.
d3bdf0b
@Kait0
0049 fix map and revert partner blindness feature.
e79f070
@Kait0
Added 3D to Html visualizer and fixed height bugs in the maps.
51fe749
@Kait0
remove pedestrian hack that diod not work
b29c648
@Kait0
Turn off rendering on longest 6 v1 eval
e592eb7
@Kait0
speed up longest6 eval.
a3f529f
@Kait0
speed up longest6 v2
8fd0e0b
@Kait0
Small speedups in the simulation using
0ae70bf 
Per-cell road-query cache for the lane association
Segment pool next to the entity pool.
Goal-major lane-graph distances.
Dropout subsample permutes indices
normalize_heading skips fmodf

+ Custom Cuda Kernel for the network.
@Kait0
update mfu script-
b92abdc

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2 participants

@Kait0 @vcharraut