Before revision:  Based on observations , AVs need to  predict the future behaviors of other traffic participants, and be aware of the uncertainties associated with such prediction so that safe, efficient, and human-like motions can be generated .
After revision:  Based on observations , AVs need to not only predict the future behaviors of other traffic participants, and be aware of the uncertainties associated with such prediction so that safe, efficient, and human-like motions can be generated .