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.

Affinity Propagation is a state-of-the-art clustering method recently proposed by Frey and Dueck. It has been successfully applied to broad areas of computer science research because it has much better clustering performance than traditional clustering methods such as k -means. In order to obtain high quality sets of clusters, the original Affinity Propagation algorithm iteratively exchanges real-valued messages between all pairs of data points until convergence. However, this algorithm does not scale for large datasets because it requires quadratic CPU time in the number of data points to compute the messages. This paper proposes an efficient Affinity Propagation algorithm that guarantees the same clustering result as the original algorithm after convergence. The heart of our approach is (1) to prune unnecessary message exchanges in the iterations and (2) to compute the convergence values of pruned messages after the iterations to determine clusters. Experimental evaluations on several different datasets demonstrate the effectiveness of our algorithm.