diff --git a/steps/index.html b/steps/index.html
index 72f30db..7d74705 100644
--- a/steps/index.html
+++ b/steps/index.html
@@ -153,6 +153,10 @@
             (P)</label>
           <label class="flex items-center gap-2 text-sm cursor-pointer"><input type="checkbox" id="toggle-covariance"
               class="form-checkbox h-4 w-4 text-blue-600 rounded focus:ring-blue-500" /> Show Covariance</label>
+          <label class="flex items-center gap-2 text-sm cursor-pointer"><input type="checkbox" id="toggle-confirmed-only"
+              class="form-checkbox h-4 w-4 text-blue-600 rounded focus:ring-blue-500" checked />
+            Confirmed Tracks
+          </label>
         </div>
 
         <!-- SNR Controls -->
diff --git a/steps/src/dom.js b/steps/src/dom.js
index 376cd75..321032e 100644
--- a/steps/src/dom.js
+++ b/steps/src/dom.js
@@ -80,6 +80,8 @@ export const closeMenuBtn = document.getElementById("close-menu-btn");
 export const fullscreenEnterIcon = document.getElementById("fullscreen-enter-icon");
 export const fullscreenExitIcon = document.getElementById("fullscreen-exit-icon");
 export const menuScrim = document.getElementById("menu-scrim");
+export const toggleConfirmedOnly = document.getElementById("toggle-confirmed-only");
+
 
 //----------------------UPDATE FRAME Function----------------------//
 // Updates the UI to reflect the current radar frame and synchronizes video playback.
diff --git a/steps/src/drawUtils.js b/steps/src/drawUtils.js
index c1bb8df..f6934de 100644
--- a/steps/src/drawUtils.js
+++ b/steps/src/drawUtils.js
@@ -13,6 +13,7 @@ import {
   toggleFrameNorm,
   toggleVelocity,
   toggleStationaryColor,
+  toggleConfirmedOnly,
 } from "./dom.js";
 
 // Defines a set of SNR (Signal-to-Noise Ratio) colors.
@@ -277,8 +278,15 @@ export function drawTrajectories(p, plotScales) {
   const localTtcColors = ttcColors(p);
 
   for (const track of appState.vizData.tracks) {
+    // if (toggleConfirmedOnly.checked && track.isConfirmed === false) {
+    //   continue;
+    // }
     if (!track || !track.historyLog || !Array.isArray(track.historyLog)) {
-      // Safeguard for malformed data
+      const trackId = track ? track.id : 'Unknown ID';
+      console.warn(
+        `Skipping malformed track in frame ${appState.currentFrame}. Track ID: ${trackId}`,
+        track // We also log the entire track object for detailed inspection.
+      ); // Safeguard for malformed data
       continue;
     }
 
@@ -405,6 +413,9 @@ export function drawTrackMarkers(p, plotScales) {
   for (const track of appState.vizData.tracks) {
     // --- START: Add the Same Safeguard Here ---
     // This robust check ensures the track and its historyLog are valid before use.
+    // if (toggleConfirmedOnly.checked && track.isConfirmed === false) {
+    //       continue;
+    //     }
     if (!track || !track.historyLog || !Array.isArray(track.historyLog)) {
       // We don't need to log a warning here again, as drawTrajectories already did.
       // We can just safely skip this malformed track.
@@ -668,7 +679,7 @@ export function drawCovarianceEllipse(
 export function drawEgoVehicle(p, plotScales) {
   const isDark = document.documentElement.classList.contains("dark");
   const carColor = isDark ? p.color(150, 150, 220) : p.color(151, 151, 220);
-  
+
   p.push();
   p.fill(carColor);
   p.noStroke();
@@ -676,10 +687,10 @@ export function drawEgoVehicle(p, plotScales) {
 
   const carWidthMeters = 1.5;
   const carLengthMeters = 3.5;
-  
+
   const carWidthPixels = carWidthMeters * plotScales.plotScaleX;
   const carLengthPixels = carLengthMeters * plotScales.plotScaleY;
 
   p.rect(0, -10, carWidthPixels, carLengthPixels, 5);
   p.pop();
-}
\ No newline at end of file
+}
diff --git a/steps/src/main.js b/steps/src/main.js
index da46a8f..1ff9bc3 100644
--- a/steps/src/main.js
+++ b/steps/src/main.js
@@ -93,6 +93,7 @@ import {
   fullscreenEnterIcon,
   fullscreenExitIcon,
   menuScrim,
+  toggleConfirmedOnly
 } from "./dom.js";
 
 import { initializeTheme } from "./theme.js";
@@ -364,6 +365,12 @@ function toggleMenu(show) {
   }
 }
 
+toggleConfirmedOnly.addEventListener("change", () => {
+  if (appState.p5_instance) {
+    appState.p5_instance.redraw();
+  }
+});
+
 // Open the menu
 toggleMenuBtn.addEventListener("click", () => toggleMenu(true));