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 . We proceed to show experimental results of MAPS-X with various environments and planners.
After 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 using a desirable number of images. We demonstrate the efficacy of this explanation-planning scheme and extensively evaluate the performance of MAPS-X with various environments and planners.