diff --git a/src/lerobot/robots/so_follower/so_follower.py b/src/lerobot/robots/so_follower/so_follower.py
index c6e67fafe..83aca5cf8 100644
--- a/src/lerobot/robots/so_follower/so_follower.py
+++ b/src/lerobot/robots/so_follower/so_follower.py
@@ -182,7 +182,7 @@ class SOFollower(Robot):
     def get_observation(self) -> RobotObservation:
         # Read arm position
         start = time.perf_counter()
-        obs_dict = self.bus.sync_read("Present_Position")
+        obs_dict = self.bus.sync_read("Present_Position", num_retry=3)
         obs_dict = {f"{motor}.pos": val for motor, val in obs_dict.items()}
         dt_ms = (time.perf_counter() - start) * 1e3
         logger.debug(f"{self} read state: {dt_ms:.1f}ms")
@@ -223,12 +223,12 @@ class SOFollower(Robot):
         # Cap goal position when too far away from present position.
         # /!\ Slower fps expected due to reading from the follower.
         if self.config.max_relative_target is not None:
-            present_pos = self.bus.sync_read("Present_Position")
+            present_pos = self.bus.sync_read("Present_Position", num_retry=3)
             goal_present_pos = {key: (g_pos, present_pos[key]) for key, g_pos in goal_pos.items()}
             goal_pos = ensure_safe_goal_position(goal_present_pos, self.config.max_relative_target)
 
         # Send goal position to the arm
-        self.bus.sync_write("Goal_Position", goal_pos)
+        self.bus.sync_write("Goal_Position", goal_pos, num_retry=3)
         return {f"{motor}.pos": val for motor, val in goal_pos.items()}
 
     @check_if_not_connected
diff --git a/src/lerobot/teleoperators/so_leader/so_leader.py b/src/lerobot/teleoperators/so_leader/so_leader.py
index 7e731d5ed..f3351eb7d 100644
--- a/src/lerobot/teleoperators/so_leader/so_leader.py
+++ b/src/lerobot/teleoperators/so_leader/so_leader.py
@@ -145,7 +145,7 @@ class SOLeader(Teleoperator):
     @check_if_not_connected
     def get_action(self) -> dict[str, float]:
         start = time.perf_counter()
-        action = self.bus.sync_read("Present_Position")
+        action = self.bus.sync_read("Present_Position", num_retry=3)
         action = {f"{motor}.pos": val for motor, val in action.items()}
         dt_ms = (time.perf_counter() - start) * 1e3
         logger.debug(f"{self} read action: {dt_ms:.1f}ms")
@@ -155,7 +155,7 @@ class SOLeader(Teleoperator):
     def send_feedback(self, feedback: dict[str, float]) -> None:
         goals = {k.removesuffix(".pos"): v for k, v in feedback.items() if k.endswith(".pos")}
         if goals:
-            self.bus.sync_write("Goal_Position", goals)
+            self.bus.sync_write("Goal_Position", goals, num_retry=3)
 
     @check_if_not_connected
     def disconnect(self) -> None: