@article{testingraredownstreamsafetyviolationsvia,
  title = {Testing Rare Downstream Safety Violations via Upstream Adaptive Sampling of Perception Error Models},
  author = {Craig Innes and Subramanian Ramamoorthy},
  year = {2022},
  eprint = {2209.09674},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2209.09674v3},
}