> But for all the complex parts, the eval function is basically one bit (you crashed/not crashed) It is not like crashed/not crashed is the only possible eval

> But for all the complex parts, the eval function is basically one bit (you crashed/not crashed) It is not like crashed/not crashed is the only possible eval function. It can be easily much more nuanced than that. The driving system should be able to predict how everyone will move next is a good sub-goal. Checking if you were in the positon of an other driver, seeing what they see would our code be driving the same way as them is also a good sub goal. (Obviously total alignment here is neither possible nor is it desireable.) Other evaluation is to check if you forced anyone to change speed/swerve to avoid you. And then you can have synthetic scenairos for every time you approached a lane which had priority over you. You can add conflicting vehicles approaching (with different timings and speeds) and see if own vehicle notices and handles them correctly. (And “handles them correctly” is not a binary crashed/not crashed either, you can check if the vehicle inconvenienced the simulated vehicle.)