The California Department of Motor Vehicles has asked Uber Technologies to first get a permit for testing its self-driving cars on the roads of San Francisco, a step that the company has so far refused to do.

The DMV said it encourages the responsible exploration of autonomous cars, but has a permit process for testing the technology to ensure public safety. “Twenty manufacturers have already obtained permits to test hundreds of cars on California roads. Uber shall do the same,” the agency said in a statement.

Having started testing its self-driving cars with ride-hailing customers in Pittsburg in September, the ride-hailing company decided to extend the tests to San Francisco starting Wednesday. “Starting today, riders who request an uberX in San Francisco will be matched with a Self-Driving Uber if one is available,” Uber wrote in a blog post.

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