Systems and methods for augmenting perception data with supplemental information

Examples disclosed herein may involve a computing system that is configured to (i) obtain previously-derived perception data for a collection of sensor data including a sequence of frames observed by a vehicle within one or more scenes, where the previously-derived perception data includes a respective set of object-level information for each of a plurality of objects detected within the sequence of frames, (ii) derive supplemental object-level information for at least one object detected within the sequence of frames that adds to the previously-derived object-level information for the at least one object, (iii) augment the previously-derived perception data to include the supplemental object-level information for the at least one object, and (iv) store the augmented perception data in an arrangement that encodes a hierarchical relationship between the plurality of objects, the sequence of frames, and the one or more scenes.