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Add Longest6v1 eval and Alpasim eval. Reduce overspeed reward to similar magnitude as comfort, - #601
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eugenevinitsky
approved these changes
Oct 28, 2026
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Run:
https://forge.coreweave.com/wandb/emerge_/nightly-multi-long/runs/k_scaled_0053_1000?nw=nwuserbern_jaeger
Evals:
Self-play: 0.4M km/infraction (similar to before)
Longest6: 75 DS (new, target 94 DS)
Longest6 v2: 65 DS (up from 48 DS)
nuPlan reactive: 92.7 (up from 91.6)
nuPlan non-reactive:88.4(similar from 88)
AlpaSim Score: 78.5 (new)
AlpaSim km/infraction at fault: 5.3 (new)