  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.
