diff --git a/lerobot/common/robot_devices/cameras/opencv.py b/lerobot/common/robot_devices/cameras/opencv.py
index d2c10a568..0fc02e0e3 100644
--- a/lerobot/common/robot_devices/cameras/opencv.py
+++ b/lerobot/common/robot_devices/cameras/opencv.py
@@ -1,4 +1,5 @@
 import argparse
+import math
 import time
 from dataclasses import dataclass, replace
 from pathlib import Path
@@ -8,6 +9,7 @@ import cv2
 import numpy as np
 
 from lerobot.common.robot_devices.cameras.utils import save_color_image
+from lerobot.common.utils.utils import capture_timestamp_utc
 
 
 def find_camera_indices(raise_when_empty=False, max_index_search_range=60):
@@ -119,9 +121,9 @@ class OpenCVCamera:
         self.camera = None
         self.is_connected = False
 
-        self.t = Thread(target=self.capture_image_loop, args=())
-        self.t.daemon = True
-        self._color_image = None
+        self.threads = {}
+        self.results = {}
+        self.logs = {}
 
     def connect(self):
         if self.is_connected:
@@ -161,7 +163,7 @@ class OpenCVCamera:
         actual_width = self.camera.get(cv2.CAP_PROP_FRAME_WIDTH)
         actual_height = self.camera.get(cv2.CAP_PROP_FRAME_HEIGHT)
 
-        if self.fps and self.fps != actual_fps:
+        if self.fps and not math.isclose(self.fps, actual_fps, rel_tol=1e-3):
             raise OSError(
                 f"Can't set {self.fps=} for camera {self.camera_index}. Actual value is {actual_fps}."
             )
@@ -175,12 +177,13 @@ class OpenCVCamera:
             )
 
         self.is_connected = True
-        self.t.start()
 
-    def capture_image(self, temporary_color: str | None = None) -> np.ndarray:
+    def read(self, temporary_color: str | None = None) -> np.ndarray:
         if not self.is_connected:
             self.connect()
 
+        start_time = time.perf_counter()
+
         ret, color_image = self.camera.read()
         if not ret:
             raise OSError(f"Can't capture color image from camera {self.camera_index}.")
@@ -196,20 +199,41 @@ class OpenCVCamera:
         if requested_color == "rgb":
             color_image = cv2.cvtColor(color_image, cv2.COLOR_BGR2RGB)
 
+        # log the number of seconds it took to read the image
+        self.logs["delta_timestamp_s"] = time.perf_counter() - start_time
+
+        # log the utc time at which the image was received
+        self.logs["timestamp_utc"] = capture_timestamp_utc()
+
         return color_image
 
-    def capture_image_loop(self):
+    def read_loop(self):
         while True:
-            self._color_image = self.capture_image()
+            self.results["color_image"] = self.read()
 
-    def read(self):
-        while self._color_image is None:
-            time.sleep(0.1)
-        return self._color_image
+    def async_read(self):
+        if "read" not in self.threads:
+            self.threads["read"] = Thread(target=self.read_loop, args=())
+            self.threads["read"].daemon = True
+            self.threads["read"].start()
+
+        num_tries = 0
+        while "color_image" not in self.results:
+            num_tries += 1
+            time.sleep(1/self.fps)
+            if num_tries > self.fps:
+                if self.threads["read"].ident is None and not self.threads["read"].is_alive():
+                    raise Exception("The thread responsible for `self.async_read()` took too much time to start. There might be an issue. Verify that `self.threads[\"read\"].start()` has been called.")
+
+        return self.results["color_image"] #, self.logs["timestamp_utc"]
 
     def disconnect(self):
         if getattr(self, "camera", None):
             self.camera.release()
+            for name in self.threads:
+                if self.threads[name].is_alive():
+                    # wait for the thread to finish
+                    self.threads[name].join()
 
     def __del__(self):
         self.disconnect()
@@ -217,8 +241,10 @@ class OpenCVCamera:
 
 def save_images_config(config: OpenCVCameraConfig, out_dir: Path):
     cameras = []
-    print(f"Available camera indices: {OpenCVCamera.AVAILABLE_CAMERAS_INDICES}")
-    for camera_idx in OpenCVCamera.AVAILABLE_CAMERAS_INDICES:
+
+    available_cam_ids = find_camera_indices()
+    print(f"Available camera indices: {available_cam_ids}")
+    for camera_idx in available_cam_ids:
         camera = OpenCVCamera(camera_idx, config)
         cameras.append(camera)
 
diff --git a/lerobot/common/robot_devices/motors/dynamixel.py b/lerobot/common/robot_devices/motors/dynamixel.py
index 88b0cf9f4..c88eebcef 100644
--- a/lerobot/common/robot_devices/motors/dynamixel.py
+++ b/lerobot/common/robot_devices/motors/dynamixel.py
@@ -1,5 +1,8 @@
 import enum
 from copy import deepcopy
+from queue import Queue
+from threading import Thread
+import time
 
 import numpy as np
 from dynamixel_sdk import (
@@ -14,6 +17,8 @@ from dynamixel_sdk import (
     PortHandler,
 )
 
+from lerobot.common.utils.utils import capture_timestamp_utc
+
 PROTOCOL_VERSION = 2.0
 BAUD_RATE = 1_000_000
 TIMEOUT_MS = 1000
@@ -149,6 +154,15 @@ def get_group_sync_key(data_name, motor_names):
     group_key = f"{data_name}_" + "_".join(motor_names)
     return group_key
 
+def get_thread_name(fn_name, data_name, motor_names):
+    group_key = get_group_sync_key(data_name, motor_names)
+    thread_name = f"{fn_name}_{group_key}"
+    return thread_name
+
+def get_log_name(var_name, fn_name, data_name, motor_names):
+    thread_name = get_thread_name(fn_name, data_name, motor_names)
+    log_name = f"{var_name}_{thread_name}"
+    return log_name
 
 class TorqueMode(enum.Enum):
     ENABLED = 1
@@ -197,6 +211,11 @@ class DynamixelMotorsBus:
 
         self.calibration = None
 
+        self.threads = {}
+        self.queues = {}
+        self.results = {}
+        self.logs = {}
+
     @property
     def motor_names(self) -> list[int]:
         return list(self.motors.keys())
@@ -239,6 +258,8 @@ class DynamixelMotorsBus:
         return values
 
     def read(self, data_name, motor_names: list[str] | None = None):
+        start_time = time.perf_counter()
+
         if motor_names is None:
             motor_names = self.motor_names
 
@@ -259,7 +280,12 @@ class DynamixelMotorsBus:
             for idx in motor_ids:
                 self.group_readers[group_key].addParam(idx)
 
-        comm = self.group_readers[group_key].txRxPacket()
+        NUM_TRIES = 10
+        for _ in range(NUM_TRIES):
+            comm = self.group_readers[group_key].txRxPacket()
+            if comm == COMM_SUCCESS:
+                break
+
         if comm != COMM_SUCCESS:
             raise ConnectionError(
                 f"Read failed due to communication error on port {self.port} for group_key {group_key}: "
@@ -283,15 +309,30 @@ class DynamixelMotorsBus:
         if data_name in CONVERT_POSITION_TO_ANGLE_REQUIRED:
             values = motor_position_to_angle(values)
 
+        # log the number of seconds it took to read the data from the motors
+        delta_ts_name = get_log_name("delta_timestamp_s", "read", data_name, motor_names)
+        self.logs[delta_ts_name] = time.perf_counter() - start_time
+
+        # log the utc time at which the data was received
+        ts_utc_name = get_log_name("timestamp_utc", "read", data_name, motor_names)
+        self.logs[ts_utc_name] = capture_timestamp_utc()
+
         return values
 
     def write(self, data_name, values: int | float | np.ndarray, motor_names: str | list[str] | None = None):
+        start_time = time.perf_counter()
+
         if motor_names is None:
             motor_names = self.motor_names
 
         if isinstance(motor_names, str):
             motor_names = [motor_names]
 
+        if isinstance(values, (int, float, np.integer)):
+            values = [int(values)] * len(motor_names)
+
+        values = np.array(values)
+
         motor_ids = []
         models = []
         for name in motor_names:
@@ -299,11 +340,6 @@ class DynamixelMotorsBus:
             motor_ids.append(motor_idx)
             models.append(model)
 
-        if isinstance(values, (int, float, np.integer)):
-            values = [int(values)] * len(motor_ids)
-
-        values = np.array(values)
-
         if data_name in CONVERT_POSITION_TO_ANGLE_REQUIRED:
             values = motor_angle_to_position(values)
 
@@ -361,6 +397,99 @@ class DynamixelMotorsBus:
                 f"{self.packet_handler.getTxRxResult(comm)}"
             )
 
+        # log the number of seconds it took to write the data to the motors
+        delta_ts_name = get_log_name("delta_timestamp_s", "write", data_name, motor_names)
+        self.logs[delta_ts_name] = time.perf_counter() - start_time
+
+        # TODO(rcadene): should we log the time before sending the write command?
+        # log the utc time when the write has been completed
+        ts_utc_name = get_log_name("timestamp_utc", "write", data_name, motor_names)
+        self.logs[ts_utc_name] = capture_timestamp_utc()
+
+    def read_loop(self, data_name, motor_names: list[str] | None = None):
+        while True:
+            thread_name = get_thread_name("read", data_name, motor_names)
+            self.results[thread_name] = self.read(data_name, motor_names)
+
+    def async_read(self, data_name, motor_names: list[str] | None = None):
+        if motor_names is None:
+            motor_names = self.motor_names
+
+        if isinstance(motor_names, str):
+            motor_names = [motor_names]
+
+        thread_name = get_thread_name("read", data_name, motor_names)
+
+        if thread_name not in self.threads:
+            self.threads[thread_name] = Thread(target=self.read_loop, args=(data_name, motor_names))
+            self.threads[thread_name].daemon = True
+            self.threads[thread_name].start()
+
+        FPS = 200
+        num_tries = 0
+        while thread_name not in self.results:
+            num_tries += 1
+            time.sleep(1 / FPS)
+            if num_tries > FPS:
+                if self.threads[thread_name].ident is None and not self.threads[thread_name].is_alive():
+                    raise Exception(f"The thread responsible for `self.async_read({data_name}, {motor_names})` took too much time to start. There might be an issue. Verify that `self.threads[thread_name].start()` has been called.")
+
+        # ts_utc_name = get_log_name("timestamp_utc", "read", data_name, motor_names)
+        return self.results[thread_name] #, self.logs[ts_utc_name]
+
+    def write_loop(self, data_name, queue: Queue, motor_names: list[str] | None = None):
+        while True:
+            values = queue.get()
+            if values is None:  # A way to terminate the thread
+                break
+            self.write(data_name, values, motor_names)
+            queue.task_done()
+
+    def async_write(self, data_name, values: int | float | np.ndarray, motor_names: str | list[str] | None = None):
+        if motor_names is None:
+            motor_names = self.motor_names
+
+        if isinstance(motor_names, str):
+            motor_names = [motor_names]
+
+        if isinstance(values, (int, float, np.integer)):
+            values = [int(values)] * len(motor_names)
+        
+        values = np.array(values)
+
+        thread_name = get_thread_name("write", data_name, motor_names)
+        ts_utc_name = get_log_name("timestamp_utc", "write", data_name, motor_names)
+
+        if thread_name not in self.threads:
+            self.queues[thread_name] = Queue()
+            self.threads[thread_name] = Thread(target=self.write_loop, args=(data_name, self.queues[thread_name], motor_names))
+            self.threads[thread_name].daemon = True
+            self.threads[thread_name].start()
+
+        self.queues[thread_name].put(values)
+
+        FPS = 200
+        num_tries = 0
+        while ts_utc_name not in self.logs:
+            num_tries += 1
+            time.sleep(1 / FPS)
+            if num_tries > FPS:
+                if self.threads[thread_name].ident is None and not self.threads[thread_name].is_alive():
+                    raise Exception(f"The thread responsible for `self.async_write({data_name}, {values}, {motor_names})` took too much time to start. There might be an issue. Verify that `self.threads[thread_name].start()` has been called.")
+
+        return self.logs[ts_utc_name]
+
+    def __del__(self):
+        for thread_name in self.queues:
+            # Send value that corresponds to `break` logic
+            self.queues[thread_name].put(None)
+            self.queues[thread_name].join()
+        
+        for thread_name in self.queues:
+            self.threads[thread_name].join()
+
+        # TODO(rcadene): find a simple way to exit threads created by async_read
+
     # def read(self, data_name, motor_name: str):
     #     motor_idx, model = self.motors[motor_name]
     #     addr, bytes = self.model_ctrl_table[model][data_name]
diff --git a/lerobot/common/robot_devices/robots/factory.py b/lerobot/common/robot_devices/robots/factory.py
index afbf822ef..944661157 100644
--- a/lerobot/common/robot_devices/robots/factory.py
+++ b/lerobot/common/robot_devices/robots/factory.py
@@ -34,7 +34,8 @@ def make_robot(name):
                 ),
             },
             cameras={
-                "main": OpenCVCamera(1, fps=30, width=640, height=480),
+                "macbookpro": OpenCVCamera(1, fps=30, width=640, height=480),
+                "iphone": OpenCVCamera(2, fps=30, width=640, height=480),
             },
         )
     else:
diff --git a/lerobot/common/robot_devices/robots/koch.py b/lerobot/common/robot_devices/robots/koch.py
index fd0636125..6a3cc798a 100644
--- a/lerobot/common/robot_devices/robots/koch.py
+++ b/lerobot/common/robot_devices/robots/koch.py
@@ -244,6 +244,9 @@ class KochRobot:
         self.follower_arms = self.config.follower_arms
         self.cameras = self.config.cameras
 
+        self.async_read = False
+        self.async_write = False
+
     def init_teleop(self):
         if self.calibration_path.exists():
             # Reset all arms before setting calibration
@@ -265,6 +268,7 @@ class KochRobot:
         for name in self.follower_arms:
             self.follower_arms[name].set_calibration(calibration[f"follower_{name}"])
             self.follower_arms[name].write("Torque_Enable", 1)
+            self.follower_arms[name].write("Torque_Enable", 1)
 
         for name in self.leader_arms:
             self.leader_arms[name].set_calibration(calibration[f"leader_{name}"])
@@ -300,7 +304,10 @@ class KochRobot:
         # Prepare to assign the positions of the leader to the follower
         leader_pos = {}
         for name in self.leader_arms:
-            leader_pos[name] = self.leader_arms[name].read("Present_Position")
+            if self.async_read:
+                leader_pos[name] = self.leader_arms[name].async_read("Present_Position")
+            else:
+                leader_pos[name] = self.leader_arms[name].read("Present_Position")
 
         follower_goal_pos = {}
         for name in self.leader_arms:
@@ -308,7 +315,10 @@ class KochRobot:
 
         # Send action
         for name in self.follower_arms:
-            self.follower_arms[name].write("Goal_Position", follower_goal_pos[name])
+            if self.async_write:
+                self.follower_arms[name].async_write("Goal_Position", follower_goal_pos[name])
+            else:
+                self.follower_arms[name].write("Goal_Position", follower_goal_pos[name])
 
         # Early exit when recording data is not requested
         if not record_data:
@@ -317,7 +327,10 @@ class KochRobot:
         # Read follower position
         follower_pos = {}
         for name in self.follower_arms:
-            follower_pos[name] = self.follower_arms[name].read("Present_Position")
+            if self.async_read:
+                follower_pos[name] = self.follower_arms[name].async_read("Present_Position")
+            else:
+                follower_pos[name] = self.follower_arms[name].read("Present_Position")
 
         # Create state by concatenating follower current position
         state = []
@@ -336,7 +349,7 @@ class KochRobot:
         # Capture images from cameras
         images = {}
         for name in self.cameras:
-            images[name] = self.cameras[name].read()
+            images[name] = self.cameras[name].async_read()
 
         # Populate output dictionnaries and format to pytorch
         obs_dict, action_dict = {}, {}
@@ -351,7 +364,10 @@ class KochRobot:
         # Read follower position
         follower_pos = {}
         for name in self.follower_arms:
-            follower_pos[name] = self.follower_arms[name].read("Present_Position")
+            if self.async_read:
+                follower_pos[name] = self.follower_arms[name].async_read("Present_Position")
+            else:
+                follower_pos[name] = self.follower_arms[name].read("Present_Position")
 
         # Create state by concatenating follower current position
         state = []
@@ -363,7 +379,7 @@ class KochRobot:
         # Capture images from cameras
         images = {}
         for name in self.cameras:
-            images[name] = self.cameras[name].read()
+            images[name] = self.cameras[name].async_read()
 
         # Populate output dictionnaries and format to pytorch
         obs_dict = {}
@@ -383,4 +399,7 @@ class KochRobot:
                 from_idx = to_idx
 
         for name in self.follower_arms:
-            self.follower_arms[name].write("Goal_Position", follower_goal_pos[name].astype(np.int32))
+            if self.async_write:
+                self.follower_arms[name].async_write("Goal_Position", follower_goal_pos[name].astype(np.int32))
+            else:
+                self.follower_arms[name].write("Goal_Position", follower_goal_pos[name].astype(np.int32))
diff --git a/lerobot/common/utils/utils.py b/lerobot/common/utils/utils.py
index c429efbdb..79db627af 100644
--- a/lerobot/common/utils/utils.py
+++ b/lerobot/common/utils/utils.py
@@ -17,7 +17,7 @@ import logging
 import os.path as osp
 import random
 from contextlib import contextmanager
-from datetime import datetime
+from datetime import datetime, timezone
 from pathlib import Path
 from typing import Any, Generator
 
@@ -172,3 +172,7 @@ def print_cuda_memory_usage():
     print("Maximum GPU Memory Allocated: {:.2f} MB".format(torch.cuda.max_memory_allocated(0) / 1024**2))
     print("Current GPU Memory Reserved: {:.2f} MB".format(torch.cuda.memory_reserved(0) / 1024**2))
     print("Maximum GPU Memory Reserved: {:.2f} MB".format(torch.cuda.max_memory_reserved(0) / 1024**2))
+
+
+def capture_timestamp_utc():
+    return datetime.now(timezone.utc)
diff --git a/lerobot/scripts/control_robot.py b/lerobot/scripts/control_robot.py
index 5d83adde2..ba6481fac 100644
--- a/lerobot/scripts/control_robot.py
+++ b/lerobot/scripts/control_robot.py
@@ -101,7 +101,7 @@ def save_image(img_tensor, key, frame_index, episode_index, videos_dir):
 def busy_wait(seconds):
     # Significantly more accurate than `time.sleep`, and mendatory for our use case,
     # but it consumes CPU cycles.
-    # TODO(rcadene): find an alternative
+    # TODO(rcadene): find an alternative: from python 11, time.sleep is precise
     end_time = time.perf_counter() + seconds
     while time.perf_counter() < end_time:
         pass
@@ -156,42 +156,46 @@ def record_dataset(
     videos_dir = local_dir / "videos"
     videos_dir.mkdir(parents=True, exist_ok=True)
 
-    start_time = time.perf_counter()
-
-    is_warmup_print = False
-    is_record_print = False
-    ep_dicts = []
-
     # Save images using threads to reach high fps (30 and more)
     # Using `with` ensures the program exists smoothly if an execption is raised.
     with concurrent.futures.ThreadPoolExecutor() as executor:
+
+        timestamp = 0
+        start_time = time.perf_counter()
+        is_warmup_print = False
+        while timestamp < warmup_time_s:
+            if not is_warmup_print:
+                print("Warming up by skipping frames")
+                os.system('say "Warmup" &')
+                is_warmup_print = True
+
+            now = time.perf_counter()
+            observation, action = robot.teleop_step(record_data=True)
+
+            dt_s = time.perf_counter() - now
+            busy_wait(1 / fps - dt_s)
+
+            dt_s = time.perf_counter() - now
+            print(f"Latency (ms): {dt_s * 1000:.2f}\tFrequency: {1 / dt_s:.2f} (Warmup)")
+
+            timestamp = time.perf_counter() - start_time
+
+        ep_dicts = []
         for episode_index in range(num_episodes):
             ep_dict = {}
             frame_index = 0
-
-            while True:
-                if not is_warmup_print:
-                    print("Warming up by skipping frames")
-                    os.system('say "Warmup"')
-                    is_warmup_print = True
-                now = time.perf_counter()
-
-                observation, action = robot.teleop_step(record_data=True)
-                timestamp = time.perf_counter() - start_time
-
-                if timestamp < warmup_time_s:
-                    dt_s = time.perf_counter() - now
-                    busy_wait(1 / fps - dt_s)
-
-                    dt_s = time.perf_counter() - now
-                    print(f"Latency (ms): {dt_s * 1000:.2f}\tFrequency: {1 / dt_s:.2f} (Warmup)")
-                    continue
-
+            timestamp = 0
+            start_time = time.perf_counter()
+            is_record_print = False
+            while timestamp < episode_time_s:
                 if not is_record_print:
-                    print("Recording")
-                    os.system(f'say "Recording episode {episode_index}"')
+                    print(f"Recording episode {episode_index}")
+                    os.system(f'say "Recording episode {episode_index}" &')
                     is_record_print = True
 
+                now = time.perf_counter()
+                observation, action = robot.teleop_step(record_data=True)
+
                 image_keys = [key for key in observation if "image" in key]
                 not_image_keys = [key for key in observation if "image" not in key]
 
@@ -216,11 +220,9 @@ def record_dataset(
                 dt_s = time.perf_counter() - now
                 print(f"Latency (ms): {dt_s * 1000:.2f}\tFrequency: {1 / dt_s:.2f}")
 
-                if timestamp > episode_time_s - warmup_time_s:
-                    break
+                timestamp = time.perf_counter() - start_time
 
-            print("Encoding to `LeRobotDataset` format")
-            os.system('say "Encoding"')
+            print("Encoding images to videos")
 
             num_frames = frame_index
 
@@ -271,7 +273,7 @@ def record_dataset(
     for key in image_keys:
         time.sleep(10)
         tmp_imgs_dir = videos_dir / f"{key}_episode_{episode_index:06d}"
-        # shutil.rmtree(tmp_imgs_dir)
+        shutil.rmtree(tmp_imgs_dir)
 
     lerobot_dataset = LeRobotDataset.from_preloaded(
         repo_id=repo_id,