@inproceedings{ding2020cmts,
  title={CMTS: Conditional Multiple Trajectory Synthesizer for Generating Safety-critical Driving Scenarios},
  author={Ding, Wenhao and Xu, Mengdi and Zhao, Ding},
 booktitle= {International Conference on Robotics and Automation (ICRA)},
 year={2020},
 organization={IEEE}
}