@article{safetyverificationofautonomoussystemsa,
  title = {Black-Box Safety Validation of Autonomous Systems: A Multi-Fidelity Reinforcement Learning Approach},
  author = {Jared J. Beard and Ali Baheri},
  year = {2022},
  eprint = {2203.03451},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2203.03451v3},
}