Before revision:  Thus, we propose a meta-algorithm, namely MAPS-X  , that can be plugged on existing  sampling-based motion planners (e.g., RRT), to produce plans with good explanations .
After revision:  Thus, we propose a meta-algorithm, namely MAPS-X ) and its lazy variant , that can be plugged on existing sampling-based motion planners (e.g., RRT), to produce plans with good explanations .