The nice thing about the annotation is that it is fully offline. You have infinite time. So you can do anything you want, three-dimensional reconstruction, neural nets, anything you want just to recover that truth and then you supervise that truth. Humans are very good at certain kinds of annotations. They're not good at annotating cars over time in three-dimensional space, very, very hard. And so we were very careful to design the tasks that are easy for humans versus things that should be left to the offline tracker.

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