Before revision:  In this area, traditional modular frameworks scale poorly in new environments, and require tremendous and iterative hand-tuning of rules and parameters to maintain  performance in all foreseeable scenarios.
After revision:  In this area, traditional modular frameworks scale poorly in new environments, and require tremendous and iterative hand-tuning of rules and parameters to maintain performance in all foreseeable occasions. Therefore, robust and safe self-driving using traditional frameworks is still challenging, especially in complex and dynamic environments.