We present a new algorithm for probabilistic planning with no observability. Our algorithm, called Probabilistic-FF, extends the heuristic forward-search machinery of Conformant-FF to problems with probabilistic uncertainty about both the initial state and action effects. Specifically, Probabilistic-FF combines Conformant-FF's techniques with a powerful machinery for weighted model counting in (weighted) CNFs, serving to elegantly define both the search space and the heuristic function. Our evaluation of Probabilistic-FF on several probabilistic domains shows an unprecedented, several orders of magnitude improvement over previous results in this area.
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