diff --git a/src/lerobot/datasets/lerobot_dataset.py b/src/lerobot/datasets/lerobot_dataset.py
index 9253202b3..3611403ed 100644
--- a/src/lerobot/datasets/lerobot_dataset.py
+++ b/src/lerobot/datasets/lerobot_dataset.py
@@ -699,6 +699,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
         self.writer = None
         self.latest_episode = None
         self._current_file_start_frame = None  # Track the starting frame index of the current parquet file
+        self._pending_video_encoding = None  # Track pending async video encoding
 
         self.root.mkdir(exist_ok=True, parents=True)
 
@@ -1073,6 +1074,15 @@ class LeRobotDataset(torch.utils.data.Dataset):
         collection/conversion, else footer metadata won't be written to the parquet files.
         The dataset won't be valid and can't be loaded as ds = LeRobotDataset(repo_id=repo, root=HF_LEROBOT_HOME.joinpath(repo))
         """
+        # Finalize any pending video encoding from the last episode
+        if hasattr(self, '_pending_video_encoding') and self._pending_video_encoding:
+            prev_ep_idx, prev_temp_paths, prev_video_keys = self._pending_video_encoding
+            logging.info(f"Finalizing last episode {prev_ep_idx} videos...")
+            self._wait_video_encoder()
+            for vkey, vpath in zip(prev_video_keys, prev_temp_paths):
+                self._save_episode_video(vkey, prev_ep_idx, vpath)
+            self._pending_video_encoding = None
+        
         self._wait_video_encoder()
         self.stop_video_encoder()
         self._close_writer()
@@ -1216,7 +1226,17 @@ class LeRobotDataset(torch.utils.data.Dataset):
 
         if has_video_keys and not use_batched_encoding:
             if use_async_encoding:
-                # Submit encoding tasks to background workers (parallel encoding)
+                # Pipeline: finalize PREVIOUS episode's encoding while current is submitted
+                # This allows encoding to happen during the NEXT episode's recording
+                if hasattr(self, '_pending_video_encoding') and self._pending_video_encoding:
+                    prev_ep_idx, prev_temp_paths, prev_video_keys = self._pending_video_encoding
+                    logging.info(f"Finalizing previous episode {prev_ep_idx} videos...")
+                    self.video_encoder.wait_until_done()
+                    for vkey, vpath in zip(prev_video_keys, prev_temp_paths):
+                        self._save_episode_video(vkey, prev_ep_idx, vpath)
+                    self._pending_video_encoding = None
+                
+                # Submit current episode encoding (will run during next episode recording)
                 temp_paths = []
                 for video_key in self.meta.video_keys:
                     img_dir = self._get_image_file_dir(episode_index, video_key)
@@ -1229,10 +1249,9 @@ class LeRobotDataset(torch.utils.data.Dataset):
                         episode_index=episode_index,
                         video_key=video_key,
                     )
-                # Wait for encoding to complete, then move to proper location
-                self.video_encoder.wait_until_done()
-                for video_key, video_path in zip(self.meta.video_keys, temp_paths):
-                    ep_metadata.update(self._save_episode_video(video_key, episode_index, video_path))
+                # Store for finalization during next episode
+                self._pending_video_encoding = (episode_index, temp_paths, list(self.meta.video_keys))
+                logging.info(f"Episode {episode_index} videos queued for encoding (will finalize next episode)")
             else:
                 video_paths = self._encode_multiple_temporary_episode_videos(self.meta.video_keys, episode_index)
                 for video_key, video_path in zip(self.meta.video_keys, video_paths):
@@ -1633,6 +1652,7 @@ class LeRobotDataset(torch.utils.data.Dataset):
         obj.writer = None
         obj.latest_episode = None
         obj._current_file_start_frame = None
+        obj._pending_video_encoding = None
         # Initialize tracking for incremental recording
         obj._lazy_loading = False
         obj._recorded_frames = 0