Bounding boxes popping in and out during a trajectory sequence

[hungdche]

Thank you for sharing the code! I ran the data_demo notebook on a specific tfrecord and notice some bounding boxes seem to disappear/reappear as below. I could interpolate between boxes, but I thought raising the issue here would be less hacky. Thanks!

waymax_maps.mp4

[justinjfu]

Hi Henry,

This is unfortunately due to perception noise in the Waymo Open Motion Dataset -- you'll notice it normally happens for occluded objects and far-away objects. What's happening is in the underlying data the valid bit for these agents is being flipped off and back on.

There isn't a great way for us to fix it. We decided to leave it as-is because it's similar to the raw perception inputs you would get in a real system. I'll leave this ticket open for now since we've discussed smoothing the flickering internally before but put it on lower priority.