@article{ascenariobasedplatformfortesting,
  title = {A Scenario-Based Platform for Testing Autonomous Vehicle Behavior Prediction Models in Simulation},
  author = {Francis Indaheng and Edward Kim and Kesav Viswanadha and Jay Shenoy and Jinkyu Kim and Daniel J. Fremont and Sanjit A. Seshia},
  year = {2021},
  eprint = {2110.14870},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2110.14870v2},
}