@article{kinggeneratingsafetycriticaldriving,
  title = {KING: Generating Safety-Critical Driving Scenarios for Robust Imitation via Kinematics Gradients},
  author = {Niklas Hanselmann and Katrin Renz and Kashyap Chitta and Apratim Bhattacharyya and Andreas Geiger},
  year = {2022},
  eprint = {2204.13683},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2204.13683v1},
}