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Fix pedestrian infraction. Replace teleportation with direct control - #605

Merged

Kait0 merged 65 commits into

3.0from

12_bernhard_dev

Nov 11, 2026

Merged

Fix pedestrian infraction. Replace teleportation with direct control#605
Kait0 merged 65 commits into
3.0from
12_bernhard_dev

Commits on Oct 28, 2026
- eval 0057 alpasim
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  4753998
- eval 58
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  a7e4a86
- Speedup self-play eval and eval more
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  86880ec
- update parallel
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  2724db7
- parallel eval.
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  955b500
- match eval simulation length to gigaflow self-play eval
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- Try 128 envs.
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- k_scaled_0063 try 256 envs
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  81b5649
- bugfix with too many files
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  4c58619
Commits on Oct 29, 2026
- eval self-play
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  d4e73ed
- name
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  a16a2d4
- Change red light behavior.
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  890a6a1
- test clipping lane widths
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  8c447c3
- minor
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  9e2bebc
- minor
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  8d5fbed
- don't filter static objects that overlap with the street.
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  a515da1
- test lane symetry and other vehicle stopped time 0.
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  2de26fa
- update defaults
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  86b5504
- remove partner zero did not work
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  dc9f14a
- update nuPlan to use the bike model optionally instead of perfect tracking.
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  c38bf96
- fix
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  b90490d
Commits on Oct 30, 2026
- nuplan comfort analysis script
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  2a44546
- nuPlan staging.
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  a3f0f00
- reduce opencv threads
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  82ca5da
- increase number of threads for nuPlan eval
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  f13b564
- nuplan comfort controller changes
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  66e7f93
- update defaults to the best
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  592c5e8
- new controller changes
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  a44a5ec
- make direct control the default
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  a1f0c1f
- make backside and frontside trigger red light infraction
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  364664e
Commits on Oct 31, 2026
- c hange rl logic
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  84bab90
Commits on Nov 1, 2026
- changes to RL logic
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  41ebcce
- 68, 128 parallel envs per worker
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  bd94273
- Cleanup nuPlan eval to produce less files.
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  43ebf51
Commits on Nov 2, 2026
- implemented remaining yellow light time for traffic lights
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  e207999
Commits on Nov 3, 2026
- Try more partners in longest6
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  fed1b1d
- Add pedestrian s to training.
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  550fd53
- speed up longest6 eval
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  f058547
- check that port range is free
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  3cc2b6d
- prevent auto requeue of longest6
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  de8ac60
Commits on Nov 4, 2026
- Make a pedestrian distribution
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  da199f0
- 71 new pedestrian distribution
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  29e7dec
Commits on Nov 5, 2026
- update longest6 harness
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  92b3082
- default to 71
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  082fde6
- added new maps
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  315ab40
- Fix wandb logging.
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  1c79056
- implement more pedestrian scenarios during train.
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  2a92100
Commits on Nov 6, 2026
- nuplan lqr and ilqr option. CARLA tuned pedals converter to be gear aware.
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  34f8e37
- also control the bicycles with the policy during forcast-.
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  cb394ea
- Fix other vehicle forcast. change to manual gear and add reverse driving to carla.
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  e4be043
- carla changes
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  b45c7ac
- Train 3 seeds.
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  a253e4b
- update script
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  875bd0a
- update vizu
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  5f6b267
- make the best config the default.
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  7040c8d
Commits on Nov 8, 2026
- make pedal mode the default.
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  e0a04df
Commits on Nov 9, 2026
- precommit
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  137519c
- cleanup nuPlan eval folder
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  dcec4b3
- Clean up carla eval
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  2431ffb
- tidy alpasim
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  6f98efb
- tidy self-play eval
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  18c8c5b
- Added ensemble eval.
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  404b9eb
- add mean ensemble
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  0c16aac
- Fable 5.2 is out. time to go through entire codebase again and fix all the little bugs.
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  70b0035
Commits on Nov 10, 2026
- 3x smaller minibatch
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  committed
  297836d

Commits

Commits on Oct 28, 2026

Commits on Oct 29, 2026

Commits on Oct 30, 2026

Commits on Oct 31, 2026

Commits on Nov 1, 2026

Commits on Nov 2, 2026

Commits on Nov 3, 2026

Commits on Nov 4, 2026

Commits on Nov 5, 2026

Commits on Nov 6, 2026

Commits on Nov 8, 2026

Commits on Nov 9, 2026

Commits on Nov 10, 2026