Visualization of a driving scene overlaid with predictions

Systems and techniques are provided for visualizing a driving scene overlaid with predictions. An example process includes receiving sensor data collected by one or more sensors of an autonomous vehicle (AV) navigating in a scene, receiving at least one prediction associated with one or more objects in the scene, and generating a superimposed visualization representing the AV in the scene and representing the at least one prediction associated with the one or more objects in the scene. The superimposed visualization may dynamically display the at least one prediction associated with the one or more objects in time sequence as the AV navigates in the scene.