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

Merged

Kait0 merged 127 commits into

3.0from

11_bernhard_dev

Oct 28, 2026

Merged

Add Longest6v1 eval and Alpasim eval. Reduce overspeed reward to similar magnitude as comfort, #601
Kait0 merged 127 commits into
3.0from
11_bernhard_dev

Commits on Oct 5, 2026
Commits on Oct 6, 2026
- increase eval envs
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  committed
  82d0b2c
- Add fused network. and tuning scripts.
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  164891c
- Add Damianos changes for Alpasim cosim.
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  2fe6586
Commits on Oct 7, 2026
- rerun nuPlan
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  76579bd
- Update H100 kernel tuning
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  f2dbb2d
- measure mfu on cluster
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  364d738
- update kernel tuning H100
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  bd95191
- update mfu bench
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  e48a16d
- fix longest6 eval
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  aa9ab0b
- update mfu bench
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  110726c
- speedup simulation code. set speed limit reward condition to max at eval time.
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  ac785ab
- fix alpasim eval
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  5cf63db
- update alpasim
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  0d6fd7e
- reeval model with speed limit compliance.
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  4954e2d
- k_scaled_0046 500B + optimizations
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  51e861c
- fix leaderboard stop sign and red light bugs
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  243f05e
Commits on Oct 8, 2026
- change nurec folder
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  8a95cf4
- Merge branch '11_bernhard_dev' of https://github.com/Emerge-Lab/PufferDrive into 11_bernhard_dev
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  committed
  4a38757
- add defaults
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  9a16107
- fix leaderboard 2.0 red light lines
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  87d70c1
- fix red light issue and shadow env bug
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  c09b879
- add pos of infraction to html renderer
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  ff9de50
- fix alpasim script
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  2914067
- new alpasim fix
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  8e89492
- update alpasim script
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  a8d19f9
- remove obsolete comment
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  e1e8a80
- alpasim model 45
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  8e9ca63
- update train script.
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  f30d6c9
- render eval for alpasim
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  493c511
- Clarify partner blindness behavior in comments and update visibility logic in write_partner_obs function
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  6d8c9be
- Update partner blindness comments and logic for visibility corridor
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  2116363
- update maps to exclude shoulder lanes outside intersections.
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  c800540
Commits on Oct 9, 2026
- update path
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  98128b5
- remove nuPlan floor and add an option to increase pedestrian size by 0.8.
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  721b79d
- remove pedestrian floor.
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  cd8941c
Commits on Oct 10, 2026
- rerun alpasim with goal radius 2
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  committed
  16b693a
Commits on Oct 12, 2026
- fix longest6 bug, fix vizu bug, fix bug of stride 2 for center lines.
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  committed
  ea45faf
- Merge branch '11_bernhard_dev' of https://github.com/Emerge-Lab/PufferDrive into 11_bernhard_dev
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  9fd976f
- remove uneccesary alpasim logs
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  committed
  0dbc569
- visu fixes, and build carla eval hack to set speed limits to 20 km/h if a pedestrian is near
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  805fa56
- Merge remote-tracking branch 'origin/vcha/partner-blindness-corridor' into 11_bernhard_dev
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  ff889b2
- update map to fix shoulders in intersections. add blind agents corridor with margin
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  96c200d
- 0048
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  7e38f39
- fix unit tests.
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  7c22e96
- index.html for alpasim
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  c7c6c37
- tidy up alpasim eval after the run
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  46db9ef
- change stop signs in alpasim maps
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  7700804
Commits on Oct 13, 2026
- fix compiler warning
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  34551d3
- format only
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  19f635d
- Fix problem with triton missing in the golden
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  committed
  a86953c
- update golden
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  committed
  c034e08
Commits on Oct 14, 2026
- Make pedestrian change optional and test it. Fix bug in maps.
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  committed
  d3bdf0b
- 0049 fix map and revert partner blindness feature.
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  committed
  e79f070
- Added 3D to Html visualizer and fixed height bugs in the maps.
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  51fe749
Commits on Oct 15, 2026
- remove pedestrian hack that diod not work
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  b29c648
- Turn off rendering on longest 6 v1 eval
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  e592eb7
- speed up longest6 eval.
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  a3f529f
- speed up longest6 v2
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  committed
  8fd0e0b
- Small speedups in the simulation using
  Kait0
  committed
  0ae70bf
- update mfu script-
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  committed
  b92abdc
Commits on Oct 18, 2026
- k_scaled_0050 5% always blind agents.
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  committed
  471980a
Commits on Oct 19, 2026
- Fix small bug with comfort penalty and red light off at end of episode
  Kait0
  committed
  4d30f4b
- Merge branch '11_bernhard_dev' of https://github.com/Emerge-Lab/PufferDrive into 11_bernhard_dev
  Kait0
  committed
  1f88acf
Commits on Oct 20, 2026
- fix eval crash
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  1029595
- formatting.
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  aaef649
- fix compiler warnings.
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  07ac7be
- add missing dependency.
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  a35ab41
- update golden
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  e657410
- fix longest6v1 script for better error handling.
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  7466c6d
- script to finish a longest6v1 eval locally.
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  abbb535
Commits on Oct 25, 2026
- update scripts to work on both clusters
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  d3ac30d
- add file
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  8d151f3
- scripts/kesai: run 0051
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  e87fc57
- scripts/kesai: NCCL check, no RoCE on kesai yet
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  committed
  d6db9e9
- scripts/kesai: run 0052, high partition note
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  f094ceb
- fused slot encoder: RTX PRO 6000 config with device-name lookup; scripts/kesai: run 0052, high partition note
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  committed
  a6aa6b1
- MFU: look up the bf16 peak by device name, not compute capability
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  82fefa4
- scripts/kesai: RUN_NAME and ROLLOUT_DTYPE overridable in 3_train, worker count notes
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  0f66175
Commits on Oct 26, 2026
- longest6 evals: 3 traffic-manager seeds per route, CaRL/garage protocol
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  b2b1613
- nuPlan eval on kesai: NO_TRAIN build, NUPLAN_EXP_ROOT default
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  07f86ea
- epoch=1 test
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  5f13d0b
Commits on Oct 27, 2026
- k_scaled_0055_1000 closer to gigaflow settings
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  ba624af
- use 1 node instead
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  b159608
- tuning script.
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  cc0ae25
- Update log names and fix leaderboard
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  1e51695
- precommit and test 1200 episode length.
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  9a8a476
- Support alpasim enroot.
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- optimization
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  79d62b2
- alpasim
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  fa67b14
- add measure peak
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  14b647c
- Add numa checks for pro 6000 nodes
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  91aaba6
- fix
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  3b2226f
- update numa check
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  717c185
- update mfu bench
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  c37343d
- MORE MEASUREMENTS
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- measurements.
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- upload
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  87e694c
- precommit
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  4dec1da
- code review
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  7e2b610
- change default value
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  committed
  3db6e08
- fix leftover std on 1 sample
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  committed
  038b272
- fix alpasim
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  committed
  213855c
- git commit -m "Regenerate train smoke golden for partner-blindness defaults"
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  committed
  93c2d2c
- update
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  694c63e
- update
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  5f9c9e7
- do some kernel optimizations.
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  committed
  ca54145
- alpasim update
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  9e42927
- alpasim
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  5b82726
- update comments
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  committed
  e902b2a
- more benchmarking
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  committed
  8dda8c6
- tune encoder
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  committed
  28125d3
- update alpasim
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  committed
  ca2e195
- code review "Reject unindexable road segments at load
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  committed
  9ff083e
- kernel speedup
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  committed
  d6ca72e
- alpasim kesai fix
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  committed
  2e30ce5
- make all scripts numa aware
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  7f8967a
- partial alpasim runs
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  committed
  30b0cf6
- update
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- eval finished model
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Commits on Oct 28, 2026
- eval 0059 on alpasim
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  41afae1
- minor
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  cbd09e0
- run ablation on Scaleway.
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  420126b
- update default values with best config.
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  9a141e8

Commits

Commits on Oct 5, 2026

Commits on Oct 6, 2026

Commits on Oct 7, 2026

Commits on Oct 8, 2026

Commits on Oct 9, 2026

Commits on Oct 10, 2026

Commits on Oct 12, 2026

Commits on Oct 13, 2026

Commits on Oct 14, 2026

Commits on Oct 15, 2026

Commits on Oct 18, 2026

Commits on Oct 19, 2026

Commits on Oct 20, 2026

Commits on Oct 25, 2026

Commits on Oct 26, 2026

Commits on Oct 27, 2026

Commits on Oct 28, 2026