Before revision: Robust and safe self-driving in complex and dynamic environments is quite challenging due to the requirement of scalable driving policies against the wide variety of traffic scenarios (e,g., road topologies, traffic rules and interaction with road agents).
After revision: Traditional modular self-driving in complex and dynamic environments is quite challenging due to the requirement of scalable driving policies against the wide variety of traffic scenarios (e,g., road topologies, traffic rules and interaction with road agents).