diff --git a/examples/siro_sandbox/app_states/app_state_tutorial.py b/examples/siro_sandbox/app_states/app_state_tutorial.py
index 8d21fcd7be..a8cc3d8644 100644
--- a/examples/siro_sandbox/app_states/app_state_tutorial.py
+++ b/examples/siro_sandbox/app_states/app_state_tutorial.py
@@ -63,6 +63,10 @@ def _sim_update_tutorial(self, dt: float):
         if self._sandbox_service.gui_input.get_key_down(GuiInput.KeyNS.SPACE):
             self._tutorial.skip_stage()
 
+        if self._sandbox_service.gui_input.get_key_down(GuiInput.KeyNS.Q):
+            while not self._tutorial.is_completed():
+                self._tutorial.skip_stage()
+
         if self._tutorial.is_completed():
             self._tutorial.stop_animations()
         else:
diff --git a/examples/siro_sandbox/hitl_tutorial.py b/examples/siro_sandbox/hitl_tutorial.py
index 2d1a517997..885d1e455f 100644
--- a/examples/siro_sandbox/hitl_tutorial.py
+++ b/examples/siro_sandbox/hitl_tutorial.py
@@ -30,8 +30,8 @@
 TEXT_ROBOT_FOCUS: str = (
     "This is your robot assistant.\nIt will help you accomplish your tasks.\n"
 )
-TEXT_AVATAR_FOCUS: str = "This is your avatar.\nYou will now gain control."
-TEXT_HELP: str = "Spacebar: Skip"
+TEXT_AVATAR_FOCUS: str = "You will now gain control of your avatar."
+TEXT_HELP: str = "Q: Skip \nSpacebar: Skip to the next stage of the tutorial"
 
 
 class ObjectAnimation:
diff --git a/examples/siro_sandbox/sandbox_app.py b/examples/siro_sandbox/sandbox_app.py
index f044024c3f..c78c4ff8be 100644
--- a/examples/siro_sandbox/sandbox_app.py
+++ b/examples/siro_sandbox/sandbox_app.py
@@ -372,6 +372,14 @@ def _reset_environment(self):
         self._app_state_index = (
             0  # start from the first app state for each episode
         )
+        # if short_tutorial enabled we show the tutorial only once - before the first episode
+        # (skip the first app state (tutorial) after the first episode)
+        if (
+            self._args.show_tutorial
+            and self._args.short_tutorial
+            and self._episode_helper.num_episodes_done > 0
+        ):
+            self._app_state_index = 1
         self._app_state = self._app_states[self._app_state_index]
         self._app_state.on_enter(
             prev_state=self._get_prev_app_state(),
@@ -710,6 +718,12 @@ def _parse_debug_third_person(args, framebuffer_size):
         default=False,
         help="Shows an intro sequence that helps familiarize the user to the scene and task in a HITL context.",
     )
+    parser.add_argument(
+        "--short-tutorial",
+        action="store_true",
+        default=False,
+        help="Shows an intro sequence that helps familiarize the user to the scene and task in a HITL context, ONLY for 1 episode. Requires --show-tutorial arguement to be specified as well.",
+    )
     parser.add_argument(
         "--hide-humanoid-in-gui",
         action="store_true",