diff --git a/gr00t/utils/video_utils.py b/gr00t/utils/video_utils.py
index b3571e5..1cbd256 100644
--- a/gr00t/utils/video_utils.py
+++ b/gr00t/utils/video_utils.py
@@ -366,6 +366,29 @@ def _extract_all_frames_ffmpeg(video_path: str) -> tuple[np.ndarray, np.ndarray]
         raise ValueError(f"Failed to extract frames from {video_path}: {e}")
 
 
+def _extract_frames_pyav_by_indices(video_path: str, frame_indices: list[int]) -> np.ndarray:
+    """Extract RGB frames at integer indices using PyAV (sequential decode).
+
+    Used when torchcodec/decord are unavailable. Short LIBERO / LeRobot clips are
+    typically small enough that scanning from the start beats per-frame ffmpeg.
+    """
+    idx_list = [int(i) for i in frame_indices]
+    need = set(idx_list)
+    max_idx = max(idx_list)
+    collected: dict[int, np.ndarray] = {}
+    with av.open(video_path) as container:
+        stream = container.streams.video[0]
+        for i, frame in enumerate(container.decode(stream)):
+            if i in need:
+                collected[i] = frame.to_ndarray(format="rgb24")
+            if i >= max_idx and len(collected) == len(need):
+                break
+    missing = need - set(collected.keys())
+    if missing:
+        raise ValueError(f"PyAV could not read frame indices {sorted(missing)} from {video_path}")
+    return np.stack([collected[i] for i in idx_list])
+
+
 def get_frames_by_indices(
     video_path: str,
     indices: list[int] | np.ndarray,
@@ -398,6 +421,8 @@ def get_frames_by_indices(
         cap.release()
         frames = np.array(frames)
         return frames
+    elif video_backend == "pyav":
+        return _extract_frames_pyav_by_indices(video_path, list(indices))
     else:
         raise NotImplementedError