diff --git a/src/lerobot/processor/tokenizer_processor.py b/src/lerobot/processor/tokenizer_processor.py
index df559555a7f..08ff3bc1580 100644
--- a/src/lerobot/processor/tokenizer_processor.py
+++ b/src/lerobot/processor/tokenizer_processor.py
@@ -392,6 +392,17 @@ def __post_init__(self):
             add_bos_token=False,
         )
 
+        # Cache constant token sequences to avoid recomputing them every iteration.
+        self._prefix_tokens = torch.tensor(
+            [self._paligemma_tokenizer.bos_token_id]
+            + self._paligemma_tokenizer.encode("Action: ", add_special_tokens=False),
+            dtype=torch.long,
+        )
+        self._suffix_tokens = torch.tensor(
+            self._paligemma_tokenizer.encode("|"),
+            dtype=torch.long,
+        )
+
     def __call__(self, transition: EnvTransition) -> EnvTransition:
         """
         Applies action tokenization to the transition.
@@ -445,7 +456,7 @@ def _tokenize_action(self, action: torch.Tensor) -> tuple[torch.Tensor, torch.Te
         if action is None:
             raise ValueError("Action cannot be None")
 
-        # Get the device and dtype of the input action
+        # Get the device of the input action
         device = action.device if isinstance(action, torch.Tensor) else None
 
         # Handle single sample (add batch dimension)
@@ -455,38 +466,34 @@ def _tokenize_action(self, action: torch.Tensor) -> tuple[torch.Tensor, torch.Te
 
         batch_size = action.shape[0]
 
-        # Tokenize the action batch
-        # The fast tokenizer expects action data and returns token IDs
+        # Move entire batch to CPU once to avoid per-sample GPU-CPU synchronization.
+        # The tokenizer uses scipy/numpy internally and requires CPU tensors.
+        action_cpu = action.cpu()
+
+        # Tokenize the action batch. All work is done on CPU; the result is
+        # transferred to the target device in a single bulk operation at the end.
         tokens_list = []
         masks_list = []
 
         for i in range(batch_size):
-            # Tokenize single action (move to CPU first as tokenizer uses scipy which requires numpy)
-            action_cpu = action[i : i + 1].cpu()
-            tokens = self.action_tokenizer(action_cpu)
+            tokens = self.action_tokenizer(action_cpu[i : i + 1])
 
-            # Convert to numpy array if it's a list
             if isinstance(tokens, list) or not isinstance(tokens, torch.Tensor):
-                tokens = torch.tensor(tokens, dtype=torch.long, device=action.device)
+                tokens = torch.tensor(tokens, dtype=torch.long)
             else:
-                # Move tokens back to the same device as input action
-                tokens = tokens.to(device=action.device)
+                tokens = tokens.to(dtype=torch.long)
 
             # Flatten to 1D if needed
             if tokens.dim() > 1:
                 tokens = tokens.flatten()
 
-            bos_id = self._paligemma_tokenizer.bos_token_id
-            # add bos
+            # Prepend prefix (bos + "Action: ") and append suffix ("|"),
+            # using cached constant tensors.
             tokens = torch.cat(
                 [
-                    torch.tensor([bos_id], device=action.device),
-                    torch.tensor(
-                        self._paligemma_tokenizer.encode("Action: ", add_special_tokens=False),
-                        device=action.device,
-                    ),
+                    self._prefix_tokens,
                     self._act_tokens_to_paligemma_tokens(tokens),
-                    torch.tensor(self._paligemma_tokenizer.encode("|"), device=action.device),
+                    self._suffix_tokens,
                 ]
             )
 
@@ -497,23 +504,16 @@ def _tokenize_action(self, action: torch.Tensor) -> tuple[torch.Tensor, torch.Te
                     "Consider increasing the `max_action_tokens` in your model config if this happens frequently."
                 )
                 tokens = tokens[: self.max_action_tokens]
-                mask = torch.ones(self.max_action_tokens, dtype=torch.bool, device=action.device)
+                mask = torch.ones(self.max_action_tokens, dtype=torch.bool)
             else:
-                mask = torch.cat(
-                    [
-                        torch.ones(len(tokens), dtype=torch.bool, device=action.device),
-                        torch.zeros(
-                            self.max_action_tokens - len(tokens), dtype=torch.bool, device=action.device
-                        ),
-                    ]
-                )
-                # Pad tokens with zeros
+                mask = torch.zeros(self.max_action_tokens, dtype=torch.bool)
+                mask[: len(tokens)] = True
                 tokens = torch.nn.functional.pad(tokens, (0, self.max_action_tokens - len(tokens)), value=0)
 
             tokens_list.append(tokens)
             masks_list.append(mask)
 
-        # Stack into batched tensors
+        # Stack into batched tensors and move to the target device in one transfer.
         tokens_batch = torch.stack(tokens_list, dim=0)  # (B, max_action_tokens)
         masks_batch = torch.stack(masks_list, dim=0)  # (B, max_action_tokens)
 
@@ -522,7 +522,6 @@ def _tokenize_action(self, action: torch.Tensor) -> tuple[torch.Tensor, torch.Te
             tokens_batch = tokens_batch.squeeze(0)
             masks_batch = masks_batch.squeeze(0)
 
-        # Move to the same device as the input
         if device is not None:
             tokens_batch = tokens_batch.to(device)
             masks_batch = masks_batch.to(device)