diff --git a/src/torchcodec/_core/CpuDeviceInterface.cpp b/src/torchcodec/_core/CpuDeviceInterface.cpp
index 70f46b7e4..3681f277f 100644
--- a/src/torchcodec/_core/CpuDeviceInterface.cpp
+++ b/src/torchcodec/_core/CpuDeviceInterface.cpp
@@ -20,6 +20,11 @@ CpuDeviceInterface::CpuDeviceInterface(const torch::Device& device)
   TORCH_CHECK(g_cpu, "CpuDeviceInterface was not registered!");
   TORCH_CHECK(
       device_.type() == torch::kCPU, "Unsupported device: ", device_.str());
+  startWorkerThread();
+}
+
+CpuDeviceInterface::~CpuDeviceInterface() {
+  stopWorkerThread();
 }
 
 void CpuDeviceInterface::initialize(
@@ -433,4 +438,112 @@ std::string CpuDeviceInterface::getDetails() {
   return std::string("CPU Device Interface.");
 }
 
+// --------------------------------------------------------------------------
+// ASYNC COLOR CONVERSION THREADING
+// --------------------------------------------------------------------------
+
+void CpuDeviceInterface::startWorkerThread() {
+  workerShouldExit_ = false;
+  workerThread_ = std::thread(&CpuDeviceInterface::colorConversionWorker, this);
+}
+
+void CpuDeviceInterface::stopWorkerThread() {
+  {
+    std::lock_guard<std::mutex> lock(queueMutex_);
+    workerShouldExit_ = true;
+  }
+  workAvailable_.notify_one();
+  if (workerThread_.joinable()) {
+    workerThread_.join();
+  }
+}
+
+void CpuDeviceInterface::colorConversionWorker() {
+  while (true) {
+    ConversionWorkItem workItem;
+
+    // Wait for work or exit signal
+    {
+      std::unique_lock<std::mutex> lock(queueMutex_);
+      workAvailable_.wait(lock, [this] {
+        return !workQueue_.empty() || workerShouldExit_;
+      });
+
+      if (workerShouldExit_ && workQueue_.empty()) {
+        return; // Exit thread
+      }
+
+      workItem = std::move(workQueue_.front());
+      workQueue_.pop();
+    }
+
+    // Do the color conversion (outside the lock)
+    FrameOutput frameOutput;
+    if (avMediaType_ == AVMEDIA_TYPE_AUDIO) {
+      convertAudioAVFrameToFrameOutput(workItem.avFrame, frameOutput);
+    } else {
+      convertVideoAVFrameToFrameOutput(
+          workItem.avFrame,
+          frameOutput,
+          workItem.preAllocatedOutputTensor);
+    }
+
+    // Push result
+    {
+      std::lock_guard<std::mutex> lock(queueMutex_);
+      resultQueue_.push(std::move(frameOutput));
+    }
+    resultAvailable_.notify_one();
+  }
+}
+
+void CpuDeviceInterface::enqueueConversion(
+    UniqueAVFrame avFrame,
+    std::optional<torch::Tensor> preAllocatedOutputTensor) {
+  std::unique_lock<std::mutex> lock(queueMutex_);
+
+  // Block if queue is full (backpressure)
+  workAvailable_.wait(lock, [this] {
+    return workQueue_.size() < kMaxQueueDepth;
+  });
+
+  ConversionWorkItem workItem{
+      std::move(avFrame), std::move(preAllocatedOutputTensor)};
+  workQueue_.push(std::move(workItem));
+
+  workAvailable_.notify_one();
+}
+
+FrameOutput CpuDeviceInterface::dequeueConversionResult() {
+  std::unique_lock<std::mutex> lock(queueMutex_);
+
+  resultAvailable_.wait(lock, [this] {
+    return !resultQueue_.empty();
+  });
+
+  FrameOutput result = std::move(resultQueue_.front());
+  resultQueue_.pop();
+
+  // Notify enqueue that there's space (for backpressure)
+  workAvailable_.notify_one();
+
+  return result;
+}
+
+void CpuDeviceInterface::flushConversionQueue() {
+  std::lock_guard<std::mutex> lock(queueMutex_);
+
+  // Clear both queues
+  while (!workQueue_.empty()) {
+    workQueue_.pop();
+  }
+  while (!resultQueue_.empty()) {
+    resultQueue_.pop();
+  }
+
+  // Notify waiting threads
+  workAvailable_.notify_all();
+  resultAvailable_.notify_all();
+}
+
 } // namespace facebook::torchcodec
diff --git a/src/torchcodec/_core/CpuDeviceInterface.h b/src/torchcodec/_core/CpuDeviceInterface.h
index 801b83826..7f8b501c6 100644
--- a/src/torchcodec/_core/CpuDeviceInterface.h
+++ b/src/torchcodec/_core/CpuDeviceInterface.h
@@ -6,6 +6,10 @@
 
 #pragma once
 
+#include <condition_variable>
+#include <mutex>
+#include <queue>
+#include <thread>
 #include "DeviceInterface.h"
 #include "FFMPEGCommon.h"
 #include "FilterGraph.h"
@@ -16,7 +20,7 @@ class CpuDeviceInterface : public DeviceInterface {
  public:
   CpuDeviceInterface(const torch::Device& device);
 
-  virtual ~CpuDeviceInterface() {}
+  virtual ~CpuDeviceInterface();
 
   std::optional<const AVCodec*> findCodec(
       [[maybe_unused]] const AVCodecID& codecId) override {
@@ -45,7 +49,32 @@ class CpuDeviceInterface : public DeviceInterface {
 
   std::string getDetails() override;
 
+  // Async color conversion API
+  void enqueueConversion(
+      UniqueAVFrame avFrame,
+      std::optional<torch::Tensor> preAllocatedOutputTensor = std::nullopt);
+  FrameOutput dequeueConversionResult();
+  void flushConversionQueue();
+
  private:
+  // Worker thread for async color conversion
+  struct ConversionWorkItem {
+    UniqueAVFrame avFrame;
+    std::optional<torch::Tensor> preAllocatedOutputTensor;
+  };
+
+  void colorConversionWorker();
+  void startWorkerThread();
+  void stopWorkerThread();
+
+  std::thread workerThread_;
+  std::mutex queueMutex_;
+  std::condition_variable workAvailable_;
+  std::condition_variable resultAvailable_;
+  std::queue<ConversionWorkItem> workQueue_;
+  std::queue<FrameOutput> resultQueue_;
+  bool workerShouldExit_ = false;
+  static constexpr size_t kMaxQueueDepth = 2;
   void convertAudioAVFrameToFrameOutput(
       UniqueAVFrame& srcAVFrame,
       FrameOutput& frameOutput);
diff --git a/src/torchcodec/_core/DeviceInterface.h b/src/torchcodec/_core/DeviceInterface.h
index 319fe01a8..c0fa62ab1 100644
--- a/src/torchcodec/_core/DeviceInterface.h
+++ b/src/torchcodec/_core/DeviceInterface.h
@@ -138,6 +138,28 @@ class DeviceInterface {
     return "";
   }
 
+  // Async color conversion API (optional)
+  // Default implementations fall back to synchronous conversion
+  virtual void enqueueConversion(
+      UniqueAVFrame avFrame,
+      std::optional<torch::Tensor> preAllocatedOutputTensor = std::nullopt) {
+    // Default: synchronous conversion (no pipelining)
+    FrameOutput output;
+    convertAVFrameToFrameOutput(avFrame, output, preAllocatedOutputTensor);
+    // Store the result for dequeue
+    throw std::runtime_error(
+        "Async conversion not implemented for this device interface");
+  }
+
+  virtual FrameOutput dequeueConversionResult() {
+    throw std::runtime_error(
+        "Async conversion not implemented for this device interface");
+  }
+
+  virtual void flushConversionQueue() {
+    // Default: no-op
+  }
+
  protected:
   torch::Device device_;
   SharedAVCodecContext codecContext_;
diff --git a/src/torchcodec/_core/SingleStreamDecoder.cpp b/src/torchcodec/_core/SingleStreamDecoder.cpp
index 8375753ae..895edfc07 100644
--- a/src/torchcodec/_core/SingleStreamDecoder.cpp
+++ b/src/torchcodec/_core/SingleStreamDecoder.cpp
@@ -700,14 +700,47 @@ FrameBatchOutput SingleStreamDecoder::getFramesAtIndices(
       frameBatchOutput.durationSeconds[indexInOutput] =
           frameBatchOutput.durationSeconds[previousIndexInOutput];
     } else {
-      FrameOutput frameOutput = getFrameAtIndexInternal(
-          indexInVideo, frameBatchOutput.data[indexInOutput]);
-      frameBatchOutput.ptsSeconds[indexInOutput] = frameOutput.ptsSeconds;
-      frameBatchOutput.durationSeconds[indexInOutput] =
-          frameOutput.durationSeconds;
+      // Async conversion path: decode + enqueue conversion
+      // Then dequeue previous result
+      if (indexInVideo != lastDecodedFrameIndex_ + 1) {
+        int64_t pts = getPts(indexInVideo);
+        setCursorPtsInSeconds(ptsToSeconds(pts, streamInfo.timeBase));
+      }
+
+      UniqueAVFrame avFrame = decodeAVFrame([this](const UniqueAVFrame& avFrame) {
+        return getPtsOrDts(avFrame) >= cursor_;
+      });
+
+      // Enqueue conversion for current frame
+      deviceInterface_->enqueueConversion(
+          std::move(avFrame), frameBatchOutput.data[indexInOutput]);
+
+      // Dequeue result from previous frame (if exists)
+      if (f > 0) {
+        auto prevIndexInOutput = indicesAreSorted ? f - 1 : argsort[f - 1];
+        FrameOutput result = deviceInterface_->dequeueConversionResult();
+        // Data is already in frameBatchOutput.data[prevIndexInOutput]
+        frameBatchOutput.ptsSeconds[prevIndexInOutput] = result.ptsSeconds;
+        frameBatchOutput.durationSeconds[prevIndexInOutput] =
+            result.durationSeconds;
+      }
+
+      lastDecodedFrameIndex_ = indexInVideo;
     }
     previousIndexInVideo = indexInVideo;
   }
+
+  // Dequeue the last frame's result
+  if (frameIndices.numel() > 0) {
+    auto lastIndexInOutput =
+        indicesAreSorted ? frameIndices.numel() - 1 : argsort[frameIndices.numel() - 1];
+    FrameOutput lastResult = deviceInterface_->dequeueConversionResult();
+    // Data is already in the right place
+    frameBatchOutput.ptsSeconds[lastIndexInOutput] = lastResult.ptsSeconds;
+    frameBatchOutput.durationSeconds[lastIndexInOutput] =
+        lastResult.durationSeconds;
+  }
+
   frameBatchOutput.data = maybePermuteHWC2CHW(frameBatchOutput.data);
   return frameBatchOutput;
 }
@@ -1194,6 +1227,7 @@ void SingleStreamDecoder::maybeSeekToBeforeDesiredPts() {
 
   decodeStats_.numFlushes++;
   deviceInterface_->flush();
+  deviceInterface_->flushConversionQueue();
 }
 
 // --------------------------------------------------------------------------