 However, most of the previous  methods are trained and evaluated in limited and simple environments with scattered tasks, such as lane-following, autonomous braking  and conditional driving.
<clarity>  However, most of the previous  methods are trained and evaluated in limited and simple environments with scattered tasks, such as lane-following, autonomous braking  and conditional driving.
 However, most of the previous methods are trained and evaluated in limited driving scenarios with scattered tasks, such as lane-following, autonomous braking and conditional driving.