Ghosting - previous objects shapes on new render

Hello folks,
Does anybody know how to get rid of the “ghost” objects that were present in previous renders but their shape is somehow still present in next render iterations?
I am trying to get rid of those in order to get clean images for offline data generation.

Running the offline dataset generator script (4. Offline Dataset Generation — Omniverse Robotics documentation) or running the render directly from Isaac gives the same result.

That’s the result after 9 iterations of viewport generation:

Disabling AO: Aggressive denoising makes the ghosting last for even longer. So I would assume that the denoising somehow has to be increased even more.
I followed the suggestion from Ghosting in the viewport rendering - #4 by cornibert , but that didn’t help.