See this stackoverflow.
Summary:
ffmpeg -i video \
-vf "select='between(t,4,6.5)+between(t,17,26)+between(t,74,91)',
setpts=N/FRAME_RATE/TB" \
-af "aselect='between(t,4,6.5)+between(t,17,26)+between(t,74,91)',
asetpts=N/SR/TB" out.mp4
Naturally one could use a Python script to generate the -vf and -af strings, so as to
ensure they clip the same part of the video.