What are some of the biggest challenges of self-driving technology?

Obviously, being able to detect roads and the surroundings is one but what are others? For example, nowadays I hear work is being done to teach self-driving cars to predict the possible action another car or pedestrian might take. SLAM is also a big deal. But I was wondering what other (technical and not political/ social) obstacles are currently being researched on with regards to self-driving cars.

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