In one example, an apparatus for decoding video data decapsulates a slice of a random access point (RAP) picture of a bitstream from a network abstraction layer (NAL) unit, where the NAL unit is a RAP picture. NAL units that indicate whether the RAP picture is a type that can have an associated preceding picture and whether the RAP picture is an instantaneous decoder refresh (IDR) picture or a clean random access (CRA) picture Based on determining whether a RAP picture can have an associated preceding picture based on a NAL unit type value, including a type value, and determining whether the RAP picture can have an associated preceding picture RA Includes a processor configured to perform a decoding the video data bitstream following the picture.