Before revision:  We propose Macro-Action Generator-Critic (MAGIC), an algorithm that learns a macro-action generator using feedback from a planner, and in turn uses the learned macro-actions to condition long-horizon planning.
After revision:  We propose Macro-Action Generator-Critic (MAGIC), which performs offline learning of macro-actions optimized for online POMDP planning. Specifically, MAGIC learns a macro-action generator using feedback from a planner, and in turn uses the learned macro-actions to condition long-horizon planning.