OSS-Fuzz never picked up on this one, so I'm guessing it was fixed sometime 
between 5.1 and 5.2. 
Not a fun section to bisect, but looks like it was fixed by 21bc31524e ("hw: 
xhci: check return value of 'usb_packet_map'")

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https://bugs.launchpad.net/bugs/1883728

Title:
  address_space_unmap: Assertion `mr != NULL' failed.

Status in QEMU:
  Incomplete

Bug description:
  To reproduce run the QEMU with the following command line:
  ```
  qemu-system-x86_64 -cdrom hypertrash_os_bios_crash.iso -nographic -m 100 
-enable-kvm -device virtio-gpu-pci -device nec-usb-xhci -device usb-audio
  ```

  QEMU Version:
  ```
  # qemu-5.0.0
  $ ./configure --target-list=x86_64-softmmu --enable-sanitizers; make
  $ x86_64-softmmu/qemu-system-x86_64 --version
  QEMU emulator version 5.0.0
  Copyright (c) 2003-2020 Fabrice Bellard and the QEMU Project developers
  ```

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