@inproceedings{xu2022safebench, title={SafeBench: A Benchmarking Platform for Safety Evaluation of Autonomous Vehicles}, author={Xu, Chejian and Ding, Wenhao and Lyu, Weijie and Liu, Zuxin and Wang, Shuai and He, Yihan and Hu, Hanjiang and Zhao, Ding and Li, Bo}, booktitle={Advances in Neural Information Processing Systems}, year={2022} }