By setting some style properties, you can remove the animation.

<style name="ThemeWindowNoAnimation"
    parent="Theme.AppCompat.NoTitleBar.Fullscreen">
  <item name="android:windowAnimationStyle">@null</item>
  <item name="android:windowEnterAnimation">@null</item>
  <item name="android:windowExitAnimation">@null</item>
</style>