Fully Observable Non-Deterministic (FOND) planning is a variant of classical symbolic planning in which actions are nondeterministic, with an action's outcome known only upon execution. It is a popular planning paradigm with applications ranging from robot planning to dialogue-agent design and reactive synthesis. Over the last 20 years, a number of approaches to FOND planning have emerged. In this work, we establish a new state of the art, following in the footsteps of some of the most powerful FOND planners to date. Our planner, PR2, decisively outperforms the four leading FOND planners, at times by a large margin, in 17 of 18 domains that represent a comprehensive benchmark suite. Ablation studies demonstrate the impact of various techniques we introduce, with the largest improvement coming from our novel FOND-aware heuristic.

翻译：完全可观测非确定性（FOND）规划是经典符号规划的一种变体，其中动作具有非确定性，动作的结果仅在执行时可知。它是一种流行的规划范式，应用范围从机器人规划到对话智能体设计及反应式综合。在过去 20 年间，已涌现出多种 FOND 规划方法。本研究沿袭了迄今为止最强大的一些 FOND 规划器的思路，确立了新的技术前沿。我们的规划器 PR2 在代表综合基准测试套件的 18 个领域中的 17 个中，显著优于四种领先的 FOND 规划器，有时甚至大幅领先。消融实验表明了我们引入的各种技术的影响，其中最大的改进来自于我们新颖的 FOND 感知启发式方法。