Improve language of feature list a bit

README.md

@@ -17,17 +17,17 @@ TODO: add example arbitration graph from robotics (with POMDP, RL methods)
 - 🌱 **Bottom-up**  
   Combine simple atomic behavior components to generate complex behaviors.
 - 🧩 **Functional decomposition**  
-  Behavior components define the *How to do it?* and *Can we do it?*, while Arbitrators take the decision on *What to do?*
+  Behavior components address *How to do it?* and *Can we do it?*, while Arbitrators decide *What to do?*
  - 🧠 **Meta-framework**  
   Integrate diverse methods in one decision-making framework. Why not combine optimization-based planning, probabilistic approaches (POMDPs), and machine learning (RL)? Use any approach where it performs best!
 - 📈 **Scalability**  
   Stack behavior components in arbitrators to create hierarchical behavior models.
 - 🛠️ **Maintainability**  
-  Add new behaviors without having to touch others – did we mention strict modularity and functional decomposition?
+  Add new behaviors without having to touch existing ones – did we mention strict modularity and functional decomposition?
 - 💡 **Transparency**  
   Easily follow and understand the decision-making process.
 - 🛡️ **Behavior Verification**  
-  Use tightly integrated verifiers to ensure only valid and safe behavior commands are executed.
+  Use tightly integrated verifiers to ensure that only safe and valid behavior commands are executed.
 - 🪂 **Graceful Degradation**  
   Your behavior is unreliable or unsafe? Arbitrators will gracefully fall back to the next-best option.