diff --git a/RELEASENOTES.md b/RELEASENOTES.md
index be32d0f57d..b79fc3ba19 100644
--- a/RELEASENOTES.md
+++ b/RELEASENOTES.md
@@ -95,6 +95,9 @@
     *   Allow `MediaCodecVideoRenderer` to use a custom
         `VideoFrameProcessor.Factory`.
     *   H.265/HEVC: Fix parsing SPS short and long term reference picture info.
+    *   Fix bug where the first frame couldn't be rendered if the audio stream
+        starts with negative timestamps
+        ([#291](https://github.com/androidx/media/issues/291)).
 *   Text:
     *   CEA-608: Change cue truncation logic to only consider visible text.
         Previously indent and tab offset were included when limiting the cue
diff --git a/libraries/common/src/main/java/androidx/media3/common/C.java b/libraries/common/src/main/java/androidx/media3/common/C.java
index 061bc40f2b..99ce68110d 100644
--- a/libraries/common/src/main/java/androidx/media3/common/C.java
+++ b/libraries/common/src/main/java/androidx/media3/common/C.java
@@ -1510,8 +1510,9 @@ public final class C {
    * State of the first frame in a video renderer.
    *
    * <p>One of {@link #FIRST_FRAME_NOT_RENDERED_ONLY_ALLOWED_IF_STARTED}, {@link
-   * #FIRST_FRAME_NOT_RENDERED} or {@link #FIRST_FRAME_RENDERED}. The stages are ordered and
-   * comparable, i.e., a value implies that all stages with higher values are not reached yet.
+   * #FIRST_FRAME_NOT_RENDERED}, {@link #FIRST_FRAME_NOT_RENDERED_AFTER_STREAM_CHANGE} or {@link
+   * #FIRST_FRAME_RENDERED}. The stages are ordered and comparable, i.e., a value implies that all
+   * stages with higher values are not reached yet.
    */
   @Documented
   @Retention(RetentionPolicy.SOURCE)
@@ -1520,6 +1521,7 @@ public final class C {
   @IntDef({
     FIRST_FRAME_NOT_RENDERED_ONLY_ALLOWED_IF_STARTED,
     FIRST_FRAME_NOT_RENDERED,
+    FIRST_FRAME_NOT_RENDERED_AFTER_STREAM_CHANGE,
     FIRST_FRAME_RENDERED
   })
   public @interface FirstFrameState {}
@@ -1533,8 +1535,11 @@ public final class C {
   /** The first frame was not rendered after the last reset, output surface or stream change. */
   @UnstableApi public static final int FIRST_FRAME_NOT_RENDERED = 1;
 
+  /** The first frame was not rendered after the last stream change. */
+  @UnstableApi public static final int FIRST_FRAME_NOT_RENDERED_AFTER_STREAM_CHANGE = 2;
+
   /** The first frame was rendered. */
-  @UnstableApi public static final int FIRST_FRAME_RENDERED = 2;
+  @UnstableApi public static final int FIRST_FRAME_RENDERED = 3;
 
   /**
    * @deprecated Use {@link Util#usToMs(long)}.
diff --git a/libraries/exoplayer/src/main/java/androidx/media3/exoplayer/mediacodec/MediaCodecRenderer.java b/libraries/exoplayer/src/main/java/androidx/media3/exoplayer/mediacodec/MediaCodecRenderer.java
index b611612f33..0566d5f91e 100644
--- a/libraries/exoplayer/src/main/java/androidx/media3/exoplayer/mediacodec/MediaCodecRenderer.java
+++ b/libraries/exoplayer/src/main/java/androidx/media3/exoplayer/mediacodec/MediaCodecRenderer.java
@@ -2102,6 +2102,11 @@ public abstract class MediaCodecRenderer extends BaseRenderer {
     return outputStreamInfo.streamOffsetUs;
   }
 
+  /** Returns the start position of the current output stream in microseconds. */
+  protected final long getOutputStreamStartPositionUs() {
+    return outputStreamInfo.startPositionUs;
+  }
+
   private void setOutputStreamInfo(OutputStreamInfo outputStreamInfo) {
     this.outputStreamInfo = outputStreamInfo;
     if (outputStreamInfo.streamOffsetUs != C.TIME_UNSET) {
diff --git a/libraries/exoplayer/src/main/java/androidx/media3/exoplayer/video/MediaCodecVideoRenderer.java b/libraries/exoplayer/src/main/java/androidx/media3/exoplayer/video/MediaCodecVideoRenderer.java
index 09df4fca08..aebd03df9c 100644
--- a/libraries/exoplayer/src/main/java/androidx/media3/exoplayer/video/MediaCodecVideoRenderer.java
+++ b/libraries/exoplayer/src/main/java/androidx/media3/exoplayer/video/MediaCodecVideoRenderer.java
@@ -1341,18 +1341,14 @@ public class MediaCodecVideoRenderer extends MediaCodecRenderer {
       // No force rendering during joining.
       return false;
     }
-    if (positionUs < getOutputStreamOffsetUs()) {
-      // No force rendering if we haven't reached the stream start position.
-      // TODO: b/160461756 - This is a bug because it compares against the offset and not the start
-      // position and also should only be applied when transitioning streams, not after every reset.
-      return false;
-    }
     boolean isStarted = getState() == STATE_STARTED;
     switch (firstFrameState) {
       case C.FIRST_FRAME_NOT_RENDERED_ONLY_ALLOWED_IF_STARTED:
         return isStarted;
       case C.FIRST_FRAME_NOT_RENDERED:
         return true;
+      case C.FIRST_FRAME_NOT_RENDERED_AFTER_STREAM_CHANGE:
+        return positionUs >= getOutputStreamStartPositionUs();
       case C.FIRST_FRAME_RENDERED:
         long elapsedSinceLastRenderUs = msToUs(getClock().elapsedRealtime()) - lastRenderRealtimeUs;
         return isStarted && shouldForceRenderOutputBuffer(earlyUs, elapsedSinceLastRenderUs);
@@ -1431,7 +1427,7 @@ public class MediaCodecVideoRenderer extends MediaCodecRenderer {
   @Override
   protected void onProcessedStreamChange() {
     super.onProcessedStreamChange();
-    lowerFirstFrameState(C.FIRST_FRAME_NOT_RENDERED);
+    lowerFirstFrameState(C.FIRST_FRAME_NOT_RENDERED_AFTER_STREAM_CHANGE);
   }
 
   /**
diff --git a/libraries/exoplayer/src/test/java/androidx/media3/exoplayer/video/MediaCodecVideoRendererTest.java b/libraries/exoplayer/src/test/java/androidx/media3/exoplayer/video/MediaCodecVideoRendererTest.java
index a9a67d62a2..8f77f80e80 100644
--- a/libraries/exoplayer/src/test/java/androidx/media3/exoplayer/video/MediaCodecVideoRendererTest.java
+++ b/libraries/exoplayer/src/test/java/androidx/media3/exoplayer/video/MediaCodecVideoRendererTest.java
@@ -509,6 +509,38 @@ public class MediaCodecVideoRendererTest {
     verify(eventListener).onRenderedFirstFrame(eq(surface), /* renderTimeMs= */ anyLong());
   }
 
+  @Test
+  public void enable_withPrerollSamplesLessThanStartPosition_rendersFirstFrame() throws Exception {
+    FakeSampleStream fakeSampleStream =
+        new FakeSampleStream(
+            new DefaultAllocator(/* trimOnReset= */ true, /* individualAllocationSize= */ 1024),
+            /* mediaSourceEventDispatcher= */ null,
+            DrmSessionManager.DRM_UNSUPPORTED,
+            new DrmSessionEventListener.EventDispatcher(),
+            /* initialFormat= */ VIDEO_H264,
+            ImmutableList.of(
+                oneByteSample(/* timeUs= */ -500, C.BUFFER_FLAG_KEY_FRAME),
+                oneByteSample(/* timeUs= */ 500),
+                oneByteSample(/* timeUs= */ 1500)));
+    fakeSampleStream.writeData(/* startPositionUs= */ -500);
+
+    mediaCodecVideoRenderer.enable(
+        RendererConfiguration.DEFAULT,
+        new Format[] {VIDEO_H264},
+        fakeSampleStream,
+        /* positionUs= */ 2000,
+        /* joining= */ false,
+        /* mayRenderStartOfStream= */ true,
+        /* startPositionUs= */ 2000,
+        /* offsetUs= */ 1000);
+    for (int i = 0; i < 10; i++) {
+      mediaCodecVideoRenderer.render(/* positionUs= */ 0, SystemClock.elapsedRealtime() * 1000);
+    }
+    shadowOf(testMainLooper).idle();
+
+    verify(eventListener).onRenderedFirstFrame(eq(surface), /* renderTimeMs= */ anyLong());
+  }
+
   @Test
   public void replaceStream_rendersFirstFrameOnlyAfterStartPosition() throws Exception {
     ShadowLooper shadowLooper = shadowOf(testMainLooper);
@@ -545,7 +577,8 @@ public class MediaCodecVideoRendererTest {
     mediaCodecVideoRenderer.start();
 
     boolean replacedStream = false;
-    for (int i = 0; i <= 10; i++) {
+    // Render to just before the specified start position.
+    for (int i = 0; i < 10; i++) {
       mediaCodecVideoRenderer.render(
           /* positionUs= */ i * 10, SystemClock.elapsedRealtime() * 1000);
       if (!replacedStream && mediaCodecVideoRenderer.hasReadStreamToEnd()) {
@@ -553,12 +586,19 @@ public class MediaCodecVideoRendererTest {
             new Format[] {VIDEO_H264},
             fakeSampleStream2,
             /* startPositionUs= */ 100,
-            /* offsetUs= */ 100);
+            /* offsetUs= */ 50);
         replacedStream = true;
       }
     }
 
-    // Expect only the first frame of the first stream to have been rendered.
+    // Assert that only one first frame was rendered so far.
+    shadowLooper.idle();
+    verify(eventListener).onRenderedFirstFrame(eq(surface), /* renderTimeMs= */ anyLong());
+
+    // Render at start position.
+    mediaCodecVideoRenderer.render(/* positionUs= */ 100, SystemClock.elapsedRealtime() * 1000);
+
+    // Assert the new first frame was rendered.
     shadowLooper.idle();
     verify(eventListener, times(2))
         .onRenderedFirstFrame(eq(surface), /* renderTimeMs= */ anyLong());
@@ -622,6 +662,48 @@ public class MediaCodecVideoRendererTest {
         .onRenderedFirstFrame(eq(surface), /* renderTimeMs= */ anyLong());
   }
 
+  @Test
+  public void resetPosition_toBeforeOriginalStartPosition_rendersFirstFrame() throws Exception {
+    ShadowLooper shadowLooper = shadowOf(testMainLooper);
+    FakeSampleStream fakeSampleStream =
+        new FakeSampleStream(
+            new DefaultAllocator(/* trimOnReset= */ true, /* individualAllocationSize= */ 1024),
+            /* mediaSourceEventDispatcher= */ null,
+            DrmSessionManager.DRM_UNSUPPORTED,
+            new DrmSessionEventListener.EventDispatcher(),
+            /* initialFormat= */ VIDEO_H264,
+            ImmutableList.of(oneByteSample(/* timeUs= */ 1000, C.BUFFER_FLAG_KEY_FRAME)));
+    fakeSampleStream.writeData(/* startPositionUs= */ 0);
+    mediaCodecVideoRenderer.enable(
+        RendererConfiguration.DEFAULT,
+        new Format[] {VIDEO_H264},
+        fakeSampleStream,
+        /* positionUs= */ 1000,
+        /* joining= */ false,
+        /* mayRenderStartOfStream= */ true,
+        /* startPositionUs= */ 1000,
+        /* offsetUs= */ 0);
+    mediaCodecVideoRenderer.start();
+    // Render at the original start position.
+    for (int i = 0; i < 10; i++) {
+      mediaCodecVideoRenderer.render(/* positionUs= */ 1000, SystemClock.elapsedRealtime() * 1000);
+    }
+
+    // Reset the position to before the original start position and render at this position.
+    mediaCodecVideoRenderer.resetPosition(500);
+    fakeSampleStream.append(
+        ImmutableList.of(oneByteSample(/* timeUs= */ 500, C.BUFFER_FLAG_KEY_FRAME)));
+    fakeSampleStream.writeData(/* startPositionUs= */ 500);
+    for (int i = 0; i < 10; i++) {
+      mediaCodecVideoRenderer.render(/* positionUs= */ 500, SystemClock.elapsedRealtime() * 1000);
+    }
+
+    // Assert that we rendered the first frame after the reset.
+    shadowLooper.idle();
+    verify(eventListener, times(2))
+        .onRenderedFirstFrame(eq(surface), /* renderTimeMs= */ anyLong());
+  }
+
   @Test
   public void supportsFormat_withDolbyVisionMedia_returnsTrueWhenFallbackToH265orH264Allowed()
       throws Exception {