Over six public talks at Karmê Chöling, August 2002, Rinpoche explains the first five chapters of Entering the Middle Way based on Karmapa Mikyö Dorje's commentary and then gives an overview of the appearance-emptiness view explained in the sixth chapter.
There are Q/A.
Please note that Rinpoche also devoted 16 program talks on the sixth chapter.
Tibetan - English
6 talks, video