diff --git a/lerobot/scripts/visualize_dataset.py b/lerobot/scripts/visualize_dataset.py
index e7bd0693..739115e9 100644
--- a/lerobot/scripts/visualize_dataset.py
+++ b/lerobot/scripts/visualize_dataset.py
@@ -77,7 +77,7 @@ def render_dataset(dataset, out_dir, max_num_episodes):
                 # add current frame to list of frames to render
                 frames[im_key].append(item[im_key])
 
-            end_of_episode = item["index"].item() == item["episode_data_index_to"].item()
+            end_of_episode = item["index"].item() == item["episode_data_index_to"].item() - 1
 
         out_dir.mkdir(parents=True, exist_ok=True)
         for im_key in dataset.image_keys:
diff --git a/tests/test_datasets.py b/tests/test_datasets.py
index 85ddb00f..18d1e9d7 100644
--- a/tests/test_datasets.py
+++ b/tests/test_datasets.py
@@ -157,7 +157,7 @@ def test_load_previous_and_future_frames_within_tolerance():
         "timestamp": [0.1, 0.2, 0.3, 0.4, 0.5],
         "index": [0, 1, 2, 3, 4],
         "episode_data_index_from": [0, 0, 0, 0, 0],
-        "episode_data_index_to": [4, 4, 4, 4, 4],
+        "episode_data_index_to": [5, 5, 5, 5, 5],
     })
     data_dict = data_dict.with_format("torch")
     item = data_dict[2]
@@ -173,7 +173,7 @@ def test_load_previous_and_future_frames_outside_tolerance_inside_episode_range(
         "timestamp": [0.1, 0.2, 0.3, 0.4, 0.5],
         "index": [0, 1, 2, 3, 4],
         "episode_data_index_from": [0, 0, 0, 0, 0],
-        "episode_data_index_to": [4, 4, 4, 4, 4],
+        "episode_data_index_to": [5, 5, 5, 5, 5],
     })
     data_dict = data_dict.with_format("torch")
     item = data_dict[2]
@@ -187,7 +187,7 @@ def test_load_previous_and_future_frames_outside_tolerance_outside_episode_range
         "timestamp": [0.1, 0.2, 0.3, 0.4, 0.5],
         "index": [0, 1, 2, 3, 4],
         "episode_data_index_from": [0, 0, 0, 0, 0],
-        "episode_data_index_to": [4, 4, 4, 4, 4],
+        "episode_data_index_to": [5, 5, 5, 5, 5],
     })
     data_dict = data_dict.with_format("torch")
     item = data_dict[2]