diff --git a/lerobot/scripts/visualize_dataset.py b/lerobot/scripts/visualize_dataset.py
index 3ba1ec54..2f6ab545 100644
--- a/lerobot/scripts/visualize_dataset.py
+++ b/lerobot/scripts/visualize_dataset.py
@@ -58,7 +58,6 @@ import logging
 import os
 import shutil
 import socketserver
-from http.server import HTTPServer, SimpleHTTPRequestHandler
 from pathlib import Path
 
 import tqdm
@@ -80,9 +79,6 @@ def run_server(path, port):
     # Change directory to serve 'index.html` as front page
     os.chdir(path)
 
-    server_address = ("", port)
-    httpd = HTTPServer(server_address, SimpleHTTPRequestHandler)
-
     with socketserver.TCPServer(("", port), NoCacheHTTPRequestHandler) as httpd:
         logging.info(f"Serving HTTP on 0.0.0.0 port {port} (http://0.0.0.0:{port}/) ...")
         httpd.serve_forever()
@@ -171,8 +167,12 @@ def write_episode_data_js(output_dir, file_name, ep_csv_fname, dataset):
         s += f"  const video{i} = document.getElementById('video_{key}');\n"
     s += "  const slider = document.getElementById('videoControl');\n"
     s += "  const playButton = document.getElementById('playButton');\n"
-    s += f"  const dygraph = new Dygraph(document.getElementById('graphdiv'), '{ep_csv_fname}', " + "{\n"
-    s += "    pixelsPerPoint: 0.01\n"
+    s += f"  const dygraph = new Dygraph(document.getElementById('graph'), '{ep_csv_fname}', " + "{\n"
+    s += "    pixelsPerPoint: 0.01,\n"
+    s += "    legend: 'always',\n"
+    s += "    labelsDiv: document.getElementById('labels'),\n"
+    s += "    labelsSeparateLines: true,\n"
+    s += "    labelsKMB: true\n"
     s += "  });\n"
     s += "\n"
     s += "  // Function to play both videos\n"
@@ -217,8 +217,13 @@ def write_episode_data_html(output_dir, file_name, js_fname, ep_index, dataset):
     """Write an html file containg video feeds and timeseries associated to an episode."""
     soup, body = create_html_page("")
 
-    main_div = soup.new_tag("div")
-    body.append(main_div)
+    # Add videos from camera feeds
+
+    videos_control_div = soup.new_tag("div")
+    body.append(videos_control_div)
+
+    videos_div = soup.new_tag("div")
+    videos_control_div.append(videos_div)
 
     def create_video(id, src):
         video = soup.new_tag("video", id=id, width="320", height="240", controls="")
@@ -231,25 +236,40 @@ def write_episode_data_html(output_dir, file_name, js_fname, ep_index, dataset):
     first_frame_idx = dataset.episode_data_index["from"][ep_index].item()
 
     for key in dataset.video_frame_keys:
-        # Example of video_path: '../videos/observation.image_episode_000004.mp4'
-        video_path = Path("..") / dataset.hf_dataset.select_columns(key)[first_frame_idx][key]["path"]
-        main_div.append(create_video(f"video_{key}", video_path))
+        # Example of video_path: 'videos/observation.image_episode_000004.mp4'
+        video_path = dataset.hf_dataset.select_columns(key)[first_frame_idx][key]["path"]
+        videos_div.append(create_video(f"video_{key}", video_path))
+
+    # Add controls for videos and graph
 
     control_div = soup.new_tag("div")
-    body.append(control_div)
+    videos_control_div.append(control_div)
 
-    graph_div = soup.new_tag("div", id="graphdiv", style="width: 600px; height: 300px;")
-    body.append(graph_div)
+    button_div = soup.new_tag("div")
+    control_div.append(button_div)
 
     button = soup.new_tag("button", id="playButton")
     button.string = "Play Videos"
-    control_div.append(button)
+    button_div.append(button)
 
-    range_input = soup.new_tag(
-        "input", type="range", id="videoControl", min="0", max="100", value="0", step="1"
-    )
-    control_div.append(range_input)
+    slider_div = soup.new_tag("div")
+    control_div.append(slider_div)
 
+    slider = soup.new_tag("input", type="range", id="videoControl", min="0", max="100", value="0", step="1")
+    control_div.append(slider)
+
+    # Add graph of states/actions, and its labels
+
+    graph_labels_div = soup.new_tag("div", style="display: flex;")
+    body.append(graph_labels_div)
+
+    graph_div = soup.new_tag("div", id="graph", style="flex: 1; width: 85%")
+    graph_labels_div.append(graph_div)
+
+    labels_div = soup.new_tag("div", id="labels", style="flex: 1; width: 15%")
+    graph_labels_div.append(labels_div)
+
+    # add dygraph library
     script = soup.new_tag("script", type="text/javascript", src=js_fname)
     body.append(script)
 
@@ -265,6 +285,8 @@ def write_episode_data_html(output_dir, file_name, js_fname, ep_index, dataset):
     )
     body.append(link_dygraph)
 
+    # Write as a html file
+
     output_dir.mkdir(parents=True, exist_ok=True)
     with open(output_dir / file_name, "w", encoding="utf-8") as f:
         f.write(soup.prettify())
@@ -320,7 +342,7 @@ def visualize_dataset(
     episode_indices: list[int] = None,
     output_dir: Path | None = None,
     serve: bool = True,
-    web_port: int = 9090,
+    port: int = 9090,
 ) -> Path | None:
     init_logging()
 
@@ -364,7 +386,7 @@ def visualize_dataset(
     write_episodes_list_html(output_dir, "index.html", episode_indices, ep_html_fnames, dataset)
 
     if serve:
-        run_server(output_dir, web_port)
+        run_server(output_dir, port)
 
 
 def main():
@@ -396,7 +418,7 @@ def main():
         help="Launch web server.",
     )
     parser.add_argument(
-        "--web-port",
+        "--port",
         type=int,
         default=9090,
         help="Web port used by the http server.",