diff --git a/predicators/args.py b/predicators/args.py
index 2de1ec07ed..56a085a454 100644
--- a/predicators/args.py
+++ b/predicators/args.py
@@ -28,6 +28,7 @@ def create_arg_parser(env_required: bool = True,
     parser.add_argument("--make_failure_videos", action="store_true")
     parser.add_argument("--make_interaction_videos", action="store_true")
     parser.add_argument("--make_demo_videos", action="store_true")
+    parser.add_argument("--make_cogman_videos", action="store_true")
     parser.add_argument("--load_approach", action="store_true")
     # In the case of online learning approaches, load_approach by itself
     # will try to load an approach on *every* online learning cycle.
diff --git a/predicators/cogman.py b/predicators/cogman.py
index e73b48bfda..62a28f5193 100644
--- a/predicators/cogman.py
+++ b/predicators/cogman.py
@@ -11,13 +11,14 @@
 import logging
 from typing import Callable, List, Optional, Sequence, Set
 
+from predicators import utils
 from predicators.approaches import BaseApproach
 from predicators.execution_monitoring import BaseExecutionMonitor
 from predicators.perception import BasePerceiver
 from predicators.settings import CFG
 from predicators.structs import Action, Dataset, EnvironmentTask, GroundAtom, \
     InteractionRequest, InteractionResult, LowLevelTrajectory, Metrics, \
-    Observation, State, Task
+    Observation, State, Task, Video
 
 
 class CogMan:
@@ -32,13 +33,18 @@ def __init__(self, approach: BaseApproach, perceiver: BasePerceiver,
         self._current_goal: Optional[Set[GroundAtom]] = None
         self._override_policy: Optional[Callable[[State], Action]] = None
         self._termination_fn: Optional[Callable[[State], bool]] = None
+        self._current_env_task: Optional[EnvironmentTask] = None
         self._episode_state_history: List[State] = []
         self._episode_action_history: List[Action] = []
+        self._episode_images: Video = []
+        self._episode_num = -1
 
     def reset(self, env_task: EnvironmentTask) -> None:
         """Start a new episode of environment interaction."""
         logging.info("[CogMan] Reset called.")
+        self._episode_num += 1
         task = self._perceiver.reset(env_task)
+        self._current_env_task = env_task
         self._current_goal = task.goal
         self._reset_policy(task)
         self._exec_monitor.reset(task)
@@ -46,10 +52,19 @@ def reset(self, env_task: EnvironmentTask) -> None:
             self._approach.get_execution_monitoring_info())
         self._episode_state_history = [task.init]
         self._episode_action_history = []
+        self._episode_images = []
+        if CFG.make_cogman_videos:
+            imgs = self._perceiver.render_mental_images(task.init, env_task)
+            self._episode_images.extend(imgs)
 
     def step(self, observation: Observation) -> Optional[Action]:
         """Receive an observation and produce an action, or None for done."""
         state = self._perceiver.step(observation)
+        if CFG.make_cogman_videos:
+            assert self._current_env_task is not None
+            imgs = self._perceiver.render_mental_images(
+                state, self._current_env_task)
+            self._episode_images.extend(imgs)
         # Replace the first step because the state was already added in reset().
         if not self._episode_action_history:
             self._episode_state_history[0] = state
@@ -86,6 +101,10 @@ def finish_episode(self, observation: Observation) -> None:
                 self._episode_action_history):
             state = self._perceiver.step(observation)
             self._episode_state_history.append(state)
+        if CFG.make_cogman_videos:
+            save_prefix = utils.get_config_path_str()
+            outfile = f"{save_prefix}__cogman__episode{self._episode_num}.mp4"
+            utils.save_video(outfile, self._episode_images)
 
     # The methods below provide an interface to the approach. In the future,
     # we may want to move some of these methods into cogman properly, e.g.,
diff --git a/predicators/perception/base_perceiver.py b/predicators/perception/base_perceiver.py
index bca657e78b..3bf36e23d1 100644
--- a/predicators/perception/base_perceiver.py
+++ b/predicators/perception/base_perceiver.py
@@ -2,7 +2,8 @@
 
 import abc
 
-from predicators.structs import EnvironmentTask, Observation, State, Task
+from predicators.structs import EnvironmentTask, Observation, State, Task, \
+    Video
 
 
 class BasePerceiver(abc.ABC):
@@ -20,3 +21,8 @@ def reset(self, env_task: EnvironmentTask) -> Task:
     @abc.abstractmethod
     def step(self, observation: Observation) -> State:
         """Produce a State given the current and past observations."""
+
+    @abc.abstractmethod
+    def render_mental_images(self, observation: Observation,
+                             env_task: EnvironmentTask) -> Video:
+        """Create mental images for the given observation."""
diff --git a/predicators/perception/kitchen_perceiver.py b/predicators/perception/kitchen_perceiver.py
index e8b6dfdb48..0aa179b90b 100644
--- a/predicators/perception/kitchen_perceiver.py
+++ b/predicators/perception/kitchen_perceiver.py
@@ -3,7 +3,7 @@
 from predicators.envs.kitchen import KitchenEnv
 from predicators.perception.base_perceiver import BasePerceiver
 from predicators.structs import EnvironmentTask, GroundAtom, Observation, \
-    State, Task
+    State, Task, Video
 
 
 class KitchenPerceiver(BasePerceiver):
@@ -49,3 +49,7 @@ def step(self, observation: Observation) -> State:
 
     def _observation_to_state(self, obs: Observation) -> State:
         return KitchenEnv.state_info_to_state(obs["state_info"])
+
+    def render_mental_images(self, observation: Observation,
+                             env_task: EnvironmentTask) -> Video:
+        raise NotImplementedError("Mental images not implemented for kitchen")
diff --git a/predicators/perception/sokoban_perceiver.py b/predicators/perception/sokoban_perceiver.py
index 428c9c21b6..e633d4c802 100644
--- a/predicators/perception/sokoban_perceiver.py
+++ b/predicators/perception/sokoban_perceiver.py
@@ -8,7 +8,7 @@
 from predicators.envs.sokoban import SokobanEnv
 from predicators.perception.base_perceiver import BasePerceiver
 from predicators.structs import EnvironmentTask, GroundAtom, Object, \
-    Observation, State, Task
+    Observation, State, Task, Video
 
 # Each observation is a tuple of four 2D boolean masks (numpy arrays).
 # The order is: free, goals, boxes, player.
@@ -95,3 +95,7 @@ def _get_object_name(r: int, c: int, type_name: str) -> str:
 
         state = utils.create_state_from_dict(state_dict)
         return state
+
+    def render_mental_images(self, observation: Observation,
+                             env_task: EnvironmentTask) -> Video:
+        raise NotImplementedError("Mental images not implemented for sokoban")
diff --git a/predicators/perception/trivial_perceiver.py b/predicators/perception/trivial_perceiver.py
index 345d44f63a..bed17f1b0c 100644
--- a/predicators/perception/trivial_perceiver.py
+++ b/predicators/perception/trivial_perceiver.py
@@ -1,7 +1,10 @@
 """A trivial perceiver that assumes observations are already states."""
 
+from predicators.envs import get_or_create_env
 from predicators.perception.base_perceiver import BasePerceiver
-from predicators.structs import EnvironmentTask, Observation, State, Task
+from predicators.settings import CFG
+from predicators.structs import EnvironmentTask, Observation, State, Task, \
+    Video
 
 
 class TrivialPerceiver(BasePerceiver):
@@ -17,3 +20,10 @@ def reset(self, env_task: EnvironmentTask) -> Task:
     def step(self, observation: Observation) -> State:
         assert isinstance(observation, State)
         return observation
+
+    def render_mental_images(self, observation: Observation,
+                             env_task: EnvironmentTask) -> Video:
+        # Use the environment's render function by default.
+        assert isinstance(observation, State)
+        env = get_or_create_env(CFG.env)
+        return env.render_state(observation, env_task)
diff --git a/tests/envs/test_sokoban.py b/tests/envs/test_sokoban.py
index 0f0e120637..c0caf0008f 100644
--- a/tests/envs/test_sokoban.py
+++ b/tests/envs/test_sokoban.py
@@ -78,6 +78,8 @@ def test_sokoban():
     imgs = env.render()
     assert len(imgs) == 1
     task = perceiver.reset(env_task)
+    with pytest.raises(NotImplementedError):
+        perceiver.render_mental_images(env_task.init_obs, env_task)
     state = task.init
     atoms = utils.abstract(state, env.predicates)
     num_boxes = len({a for a in atoms if a.predicate == IsBox})
diff --git a/tests/test_main.py b/tests/test_main.py
index 7f0a7a3a0a..6b6f85d051 100644
--- a/tests/test_main.py
+++ b/tests/test_main.py
@@ -117,9 +117,9 @@ def test_main():
     eval_traj_dir = os.path.join(parent_dir, "_fake_trajs")
     sys.argv = [
         "dummy", "--env", "cover", "--approach", "oracle", "--seed", "123",
-        "--make_test_videos", "--num_test_tasks", "1", "--video_dir",
-        video_dir, "--results_dir", results_dir, "--eval_trajectories_dir",
-        eval_traj_dir
+        "--make_test_videos", "--make_cogman_videos", "--num_test_tasks", "1",
+        "--video_dir", video_dir, "--results_dir", results_dir,
+        "--eval_trajectories_dir", eval_traj_dir
     ]
     main()
     # Test making videos of failures and local logging.