Before revision:  We find that not only does PRIMAL2 significantly surpass our previous work , it is also able to perform on par and even outperform state-of-the-art planners in terms of throughput .
After revision:  We find that not only does PRIMAL2 significantly surpass our previous work and performs comparably to these baselines, while allowing real-time re-planning and scaling up to 2048 agents .