Efficient Policy-Space Search for Fully-Observable Non-Deterministic Planning with Equivalence Pruning and Compression

The core message of this work is to introduce techniques that substantially improve the performance of the policy-space search algorithm AND* for FOND planning. The key ideas are: (1) policy equivalence pruning, which avoids expanding multiple equivalent policies, (2) leveraging state symmetries to strengthen policy equivalence detection, (3) early deadlock pruning and satisficing search techniques, and (4) a solution compressor that finds a compact representation of the solution policy.