Task: Question Generation
Input (English): At the beginning of the Western Han dynasty, thirteen centrally controlled commanderies—including the capital region—existed in the western third of the empire, while the eastern two-thirds were divided into ten semi-autonomous kingdoms. To placate his prominent commanders from the war with Chu, Emperor Gaozu enfeoffed some of them as kings. By 157 BC, the Han court had replaced all of these kings with royal Liu family members, since the loyalty of non-relatives to the throne was questioned. After several insurrections by Han kings—the largest being the Rebellion of the Seven States in 154 BC—the imperial court enacted a series of reforms beginning in 145 BC limiting the size and power of these kingdoms and dividing their former territories into new centrally controlled commanderies. Kings were no longer able to appoint their own staff; this duty was assumed by the imperial court. Kings became nominal heads of their fiefs and collected a portion of tax revenues as their personal incomes. The kingdoms were never entirely abolished and existed throughout the remainder of Western and Eastern Han.
Output (English): The Han court replaced several kings with members of what royal family?