diff --git a/src/lerobot/policies/pi05/modeling_pi05.py b/src/lerobot/policies/pi05/modeling_pi05.py
index b017bbc57..6500ada20 100644
--- a/src/lerobot/policies/pi05/modeling_pi05.py
+++ b/src/lerobot/policies/pi05/modeling_pi05.py
@@ -538,6 +538,8 @@ class PI05Pytorch(nn.Module):  # see openpi `PI0Pytorch`
         if config.compile_model:
             torch.set_float32_matmul_precision("high")
             self.sample_actions = torch.compile(self.sample_actions, mode=config.compile_mode)
+            # Also compile the main forward pass used during training
+            self.forward = torch.compile(self.forward, mode=config.compile_mode)
 
         msg = """An incorrect transformer version is used, please create an issue on https://github.com/huggingface/lerobot/issues"""