diff --git a/src/lerobot/policies/pi05_full/configuration_pi05.py b/src/lerobot/policies/pi05_full/configuration_pi05.py
index fa91e3edb..a95645220 100644
--- a/src/lerobot/policies/pi05_full/configuration_pi05.py
+++ b/src/lerobot/policies/pi05_full/configuration_pi05.py
@@ -77,6 +77,7 @@ class PI05FullConfig(PreTrainedConfig):
     # subtask stuff
     max_decoding_steps: int = 200
     temperature: float = 0.0
+    subtask_regeneration_interval: float = 1.0  # Regenerate subtask tokens every N seconds (0 = every call)
 
     # Training settings
     gradient_checkpointing: bool = False  # Enable gradient checkpointing for memory optimization
diff --git a/src/lerobot/policies/pi05_full/modeling_pi05.py b/src/lerobot/policies/pi05_full/modeling_pi05.py
index b9d41b3de..996ef2afe 100644
--- a/src/lerobot/policies/pi05_full/modeling_pi05.py
+++ b/src/lerobot/policies/pi05_full/modeling_pi05.py
@@ -17,6 +17,7 @@
 import builtins
 import logging
 import math
+import time
 from collections import deque
 from pathlib import Path
 from typing import TYPE_CHECKING, Literal, TypedDict
@@ -1613,6 +1614,10 @@ class PI05FullPolicy(PreTrainedPolicy):
         self._queues = {
             ACTION: deque(maxlen=self.config.n_action_steps),
         }
+        # Subtask caching state - regenerate every `subtask_regeneration_interval` seconds
+        self._cached_subtask_tokens: Tensor | None = None
+        self._cached_subtask_masks: Tensor | None = None
+        self._last_subtask_time: float | None = None
 
     def init_rtc_processor(self):
         """Initialize RTC processor if RTC is enabled in config."""
@@ -1728,12 +1733,31 @@ class PI05FullPolicy(PreTrainedPolicy):
         # tokens, masks = batch[f"{OBS_LANGUAGE_TOKENS}"], batch[f"{OBS_LANGUAGE_ATTENTION_MASK}"]
         high_level_task_tokens, high_level_task_masks = batch[f"{OBS_LANGUAGE_USER_PROMPT_TOKENS}"], batch[f"{OBS_LANGUAGE_USER_PROMPT_ATTENTION_MASK}"]
         
-        # we will need to generate subtask tokens here - ideally every 1 second
-        # TODO: jadechoghari: this should be called every 1 second or when the user input a prompt
-        subtask_tokens, subtask_masks = self.model.generate_subtask_tokens(images, img_masks, high_level_task_tokens, high_level_task_masks, max_decoding_steps=self.config.tokenizer_max_length)
+        # Generate subtask tokens with time-based caching
+        # Only regenerate if: no cache, or interval elapsed, or interval is 0 (always regenerate)
+        current_time = time.time()
+        interval = self.config.subtask_regeneration_interval
+        should_regenerate = (
+            self._cached_subtask_tokens is None
+            or self._last_subtask_time is None
+            or interval <= 0  # 0 means regenerate every call
+            or (current_time - self._last_subtask_time) >= interval
+        )
+
+        if should_regenerate:
+            subtask_tokens, subtask_masks = self.model.generate_subtask_tokens(
+                images, img_masks, high_level_task_tokens, high_level_task_masks,
+                max_decoding_steps=self.config.tokenizer_max_length
+            )
+            self._cached_subtask_tokens = subtask_tokens
+            self._cached_subtask_masks = subtask_masks
+            self._last_subtask_time = current_time
+        else:
+            subtask_tokens = self._cached_subtask_tokens
+            subtask_masks = self._cached_subtask_masks
+
         # Sample actions using the model (pass through RTC kwargs, no separate state needed for PI05)
         actions = self.model.sample_actions(images, img_masks, high_level_task_tokens, high_level_task_masks, subtask_tokens, subtask_masks, **kwargs)
-        breakpoint()
         # Unpad actions to actual action dimension
         original_action_dim = self.config.output_features[ACTION].shape[0]
         actions = actions[:, :, :original_action_dim]