diff --git a/src/lerobot/scripts/lerobot_eval.py b/src/lerobot/scripts/lerobot_eval.py
index 51a9209f6..b4bced908 100644
--- a/src/lerobot/scripts/lerobot_eval.py
+++ b/src/lerobot/scripts/lerobot_eval.py
@@ -767,19 +767,19 @@ def eval_policy_all(
                 prefetch_thread.join()
                 prefetch_thread = None
 
-            # Prefetch next task's AsyncVectorEnv workers while this task runs.
-            if i + 1 < len(tasks):
-                next_env = tasks[i + 1][2]
-                if hasattr(next_env, "_ensure"):
-                    prefetch_thread = threading.Thread(target=next_env._ensure, daemon=True)
-                    prefetch_thread.start()
-
             try:
                 tg, tid, metrics = task_runner(task_group, task_id, env)
                 _accumulate_to(tg, metrics)
                 per_task_infos.append({"task_group": tg, "task_id": tid, "metrics": metrics})
             finally:
                 env.close()
+                # Prefetch next task's workers *after* closing current env to prevent
+                # GPU memory overlap between consecutive tasks.
+                if i + 1 < len(tasks):
+                    next_env = tasks[i + 1][2]
+                    if hasattr(next_env, "_ensure"):
+                        prefetch_thread = threading.Thread(target=next_env._ensure, daemon=True)
+                        prefetch_thread.start()
     else:
         with cf.ThreadPoolExecutor(max_workers=max_parallel_tasks) as executor:
             fut2meta = {}