SparseAD: Sparse Query-Centric Paradigm for Efficient End-to-End Autonomous Driving

End-to-End paradigms use a unified framework to implement multi-tasks in an autonomous driving system. Despite simplicity and clarity, the performance of end-to-end autonomous driving methods on sub-tasks is still far behind the single-task methods. Meanwhile, the widely used dense BEV features in previous end-to-end methods make it costly to extend to more modalities or tasks. In this paper, we propose a Sparse query-centric paradigm for end-to-end Autonomous Driving (SparseAD), where the sparse queries completely represent the whole driving scenario across space, time and tasks without any dense BEV representation. Concretely, we design a unified sparse architecture for perception tasks including detection, tracking, and online mapping. Moreover, we revisit motion prediction and planning, and devise a more justifiable motion planner framework. On the challenging nuScenes dataset, SparseAD achieves SOTA full-task performance among end-to-end methods and significantly narrows the performance gap between end-to-end paradigms and single-task methods. Codes will be released soon.

DecisionHoldem: Safe Depth-Limited Solving With Diverse Opponents for Imperfect-Information Games

An imperfect-information game is a type of game with asymmetric information. It is more common in life than perfect-information game. Artificial intelligence (AI) in imperfect-information games, such like poker, has made considerable progress and success in recent years. The great success of superhuman poker AI, such as Libratus and Deepstack, attracts researchers to pay attention to poker research. However, the lack of open-source code limits the development of Texas hold'em AI to some extent. This article introduces DecisionHoldem, a high-level AI for heads-up no-limit Texas hold'em with safe depth-limited subgame solving by considering possible ranges of opponent's private hands to reduce the exploitability of the strategy. Experimental results show that DecisionHoldem defeats the strongest openly available agent in heads-up no-limit Texas hold'em poker, namely Slumbot, and a high-level reproduction of Deepstack, viz, Openstack, by more than 730 mbb/h (one-thousandth big blind per round) and 700 mbb/h. Moreover, we release the source codes and tools of DecisionHoldem to promote AI development in imperfect-information games.