Before revision:  Thus, we propose meta-algorithms, namely multi-agent plan segmenting -X (MAPS-X) and its lazy variant, that can be plugged on existing centralized sampling-based tree planners X to produce plans with good explanations using a desirable number of images.
After revision:  Thus, we propose meta-algorithms, namely -X (MAPS-X) and its lazy variant, that can be plugged on existing centralized sampling-based tree planners X to produce plans with good explanations using a desirable number of images.