diff --git a/modules/footstone/include/footstone/cv_driver.h b/modules/footstone/include/footstone/cv_driver.h
index e79621c42..de6a16982 100644
--- a/modules/footstone/include/footstone/cv_driver.h
+++ b/modules/footstone/include/footstone/cv_driver.h
@@ -35,13 +35,12 @@ class CVDriver: public Driver {
   virtual ~CVDriver() = default;
 
   virtual void Notify() override;
-  virtual void WaitFor(const TimeDelta& delta) override;
+  virtual void WaitFor(const TimeDelta& delta, std::unique_lock<std::mutex>& lock) override;
   virtual void Start() override;
   virtual void Terminate() override;
 
  private:
   std::condition_variable cv_;
-  std::mutex mutex_;
 };
 
 }
diff --git a/modules/footstone/include/footstone/driver.h b/modules/footstone/include/footstone/driver.h
index 81417dbe2..c18869e67 100644
--- a/modules/footstone/include/footstone/driver.h
+++ b/modules/footstone/include/footstone/driver.h
@@ -23,7 +23,7 @@
 #pragma once
 
 #include <functional>
-
+#include <mutex>
 #include "footstone/time_delta.h"
 
 namespace footstone {
@@ -35,7 +35,8 @@ class Driver {
   virtual ~Driver() = default;
 
   virtual void Notify() = 0;
-  virtual void WaitFor(const TimeDelta& delta) = 0;
+  std::mutex& Mutex() { return mutex_; }
+  virtual void WaitFor(const TimeDelta& delta, std::unique_lock<std::mutex>& lock) = 0;
   virtual void Start() = 0;
   virtual void Terminate() = 0;
 
@@ -60,6 +61,8 @@ class Driver {
    *
    */
   bool is_exit_immediately_;
+
+  std::mutex mutex_;
 };
 
 }
diff --git a/modules/footstone/include/footstone/platform/adr/looper_driver.h b/modules/footstone/include/footstone/platform/adr/looper_driver.h
index 213dd9c30..e6f4e5053 100644
--- a/modules/footstone/include/footstone/platform/adr/looper_driver.h
+++ b/modules/footstone/include/footstone/platform/adr/looper_driver.h
@@ -36,7 +36,7 @@ class LooperDriver: public Driver {
   virtual ~LooperDriver();
 
   virtual void Notify() override;
-  virtual void WaitFor(const TimeDelta& delta) override;
+  virtual void WaitFor(const TimeDelta& delta, std::unique_lock<std::mutex>& lock) override;
   virtual void Start() override;
   virtual void Terminate() override;
 
diff --git a/modules/footstone/include/footstone/platform/ios/looper_driver.h b/modules/footstone/include/footstone/platform/ios/looper_driver.h
index 1ec849a04..1e07e2c90 100644
--- a/modules/footstone/include/footstone/platform/ios/looper_driver.h
+++ b/modules/footstone/include/footstone/platform/ios/looper_driver.h
@@ -35,10 +35,10 @@ class LooperDriver: public Driver {
   virtual ~LooperDriver();
 
   virtual void Notify() override;
-  virtual void WaitFor(const TimeDelta& delta) override;
+  virtual void WaitFor(const TimeDelta& delta, std::unique_lock<std::mutex>& lock) override;
   virtual void Start() override;
   virtual void Terminate() override;
-  
+
   void OnTimerFire(CFRunLoopTimerRef timer);
 
  private:
diff --git a/modules/footstone/include/footstone/task_runner.h b/modules/footstone/include/footstone/task_runner.h
index 356d87b36..b83a124ec 100644
--- a/modules/footstone/include/footstone/task_runner.h
+++ b/modules/footstone/include/footstone/task_runner.h
@@ -122,6 +122,8 @@ class TaskRunner {
   std::unique_ptr<IdleTask> PopIdleTask();
   std::unique_ptr<Task> GetTopDelayTask();
   std::unique_ptr<Task> GetNext();
+  bool HasTask();
+  bool HasMoreUrgentTask(TimeDelta min_wait_time, TimePoint now);
 
   std::queue<std::unique_ptr<Task>> task_queue_;
   std::mutex queue_mutex_;
diff --git a/modules/footstone/include/footstone/worker.h b/modules/footstone/include/footstone/worker.h
index 31134f8b3..a4df43c9d 100644
--- a/modules/footstone/include/footstone/worker.h
+++ b/modules/footstone/include/footstone/worker.h
@@ -102,6 +102,9 @@ class Worker {
   void BalanceNoLock();
   void SortNoLock();
 
+  bool HasTask();
+  bool HasMoreUrgentTask(TimeDelta min_wait_time, TimePoint now);
+
   int32_t WorkerKeyCreate(uint32_t task_runner_id, const std::function<void(void *)>& destruct);
   bool WorkerKeyDelete(uint32_t task_runner_id, int32_t key);
   bool WorkerSetSpecific(uint32_t task_runner_id, int32_t key, void *p);
diff --git a/modules/footstone/src/cv_driver.cc b/modules/footstone/src/cv_driver.cc
index 7356c419a..ff180f710 100644
--- a/modules/footstone/src/cv_driver.cc
+++ b/modules/footstone/src/cv_driver.cc
@@ -24,12 +24,11 @@ namespace footstone {
 inline namespace runner {
 
 void CVDriver::Notify() {
+  std::unique_lock<std::mutex> lock(mutex_);
   cv_.notify_one();
 }
 
-void CVDriver::WaitFor(const TimeDelta& delta) {
-  std::unique_lock<std::mutex> lock(mutex_);
-
+void CVDriver::WaitFor(const TimeDelta& delta, std::unique_lock<std::mutex>& lock) {
   if (delta != TimeDelta::Max() && delta >= TimeDelta::Zero()) {
     cv_.wait_for(lock, std::chrono::nanoseconds(delta.ToNanoseconds()));
   } else {
diff --git a/modules/footstone/src/platform/adr/looper_driver.cc b/modules/footstone/src/platform/adr/looper_driver.cc
index 22ea02c9d..96a3b3711 100644
--- a/modules/footstone/src/platform/adr/looper_driver.cc
+++ b/modules/footstone/src/platform/adr/looper_driver.cc
@@ -57,7 +57,7 @@ void LooperDriver::Notify() {
   timerfd_settime(fd_, TFD_TIMER_ABSTIME, &spec, nullptr);
 }
 
-void LooperDriver::WaitFor(const TimeDelta& delta) {
+void LooperDriver::WaitFor(const TimeDelta& delta, std::unique_lock<std::mutex>& lock) {
   auto nano_secs = delta.ToNanoseconds();
   if (nano_secs < 1) {
     nano_secs = 1;
diff --git a/modules/footstone/src/platform/ios/looper_driver.cc b/modules/footstone/src/platform/ios/looper_driver.cc
index b817da01e..eac5e0d0b 100644
--- a/modules/footstone/src/platform/ios/looper_driver.cc
+++ b/modules/footstone/src/platform/ios/looper_driver.cc
@@ -56,7 +56,7 @@ void LooperDriver::Notify() {
       CFAbsoluteTimeGetCurrent());
 }
 
-void LooperDriver::WaitFor(const TimeDelta& delta) {
+void LooperDriver::WaitFor(const TimeDelta& delta, std::unique_lock<std::mutex>& lock) {
   CFRunLoopTimerSetNextFireDate(
       delayed_wake_timer_,
       CFAbsoluteTimeGetCurrent() + delta.ToSecondsF());
diff --git a/modules/footstone/src/task_runner.cc b/modules/footstone/src/task_runner.cc
index b8a60590a..108ca7a63 100644
--- a/modules/footstone/src/task_runner.cc
+++ b/modules/footstone/src/task_runner.cc
@@ -266,5 +266,53 @@ void TaskRunner::RunnerDestroySpecifics() {
   return worker->WorkerDestroySpecific(task_runner_id);
 }
 
+bool TaskRunner::HasTask() {
+  {
+    std::lock_guard<std::mutex> lock(queue_mutex_);
+    if (!task_queue_.empty()) {
+      return true;
+    }
+  }
+  {
+    std::lock_guard<std::mutex> lock(delay_mutex_);
+    if (!delayed_task_queue_.empty()) {
+      return true;
+    }
+  }
+  {
+    std::lock_guard<std::mutex> lock(idle_mutex_);
+    if (!idle_task_queue_.empty()) {
+      return true;
+    }
+  }
+  return false;
+}
+
+bool TaskRunner::HasMoreUrgentTask(TimeDelta min_wait_time, TimePoint now) {
+  {
+    std::lock_guard<std::mutex> lock(queue_mutex_);
+    if (!task_queue_.empty()) {
+      return true;
+    }
+  }
+  {
+    std::lock_guard<std::mutex> lock(idle_mutex_);
+    if (!idle_task_queue_.empty()) {
+      return true;
+    }
+  }
+  {
+    std::lock_guard<std::mutex> lock(delay_mutex_);
+    if (!delayed_task_queue_.empty()) {
+      const DelayedEntry& delayed_task = delayed_task_queue_.top();
+      if(delayed_task.first - now < min_wait_time) {
+        return true;
+      }
+    }
+  }
+
+  return false;
+}
+
 } // namespace runner
 }  // namespace footstone
diff --git a/modules/footstone/src/worker.cc b/modules/footstone/src/worker.cc
index b6b8e5fd9..d82b036db 100644
--- a/modules/footstone/src/worker.cc
+++ b/modules/footstone/src/worker.cc
@@ -402,10 +402,20 @@ std::unique_ptr<Task> Worker::GetNextTask() {
         }));
     return wrapper_idle_task;
   }
+  std::unique_lock<std::mutex> lock(driver_->Mutex());
   if (driver_->IsTerminated()) {
     return nullptr;
   }
-  driver_->WaitFor(min_wait_time_);
+  if (min_wait_time_ == TimeDelta::Max()) {
+    if (HasTask()) {
+      return nullptr;
+    }
+  } else {
+    if (HasMoreUrgentTask(min_wait_time_, now)) {
+      return nullptr;
+    }
+  }
+  driver_->WaitFor(min_wait_time_, lock);
   return nullptr;
 }
 
@@ -532,5 +542,63 @@ void Worker::UpdateSpecific(uint32_t task_runner_id,
   specific_map_[task_runner_id] = array;  // insert or update
 }
 
+bool Worker::HasTask() {
+  bool has_found = false;
+  for (auto &group : running_group_list_) {
+    for (auto &runner : group) {
+      if (runner->HasTask()) {
+        has_found = true;
+        break;
+      }
+    }
+    if (has_found) {
+      break;
+    }
+  }
+  if (!has_found) {
+    for (auto &group : pending_group_list_) {
+      for (auto &runner : group) {
+        if (runner->HasTask()) {
+          has_found = true;
+          break;
+        }
+      }
+      if (has_found) {
+        break;
+      }
+    }
+  }
+  return has_found;
+}
+
+bool Worker::HasMoreUrgentTask(TimeDelta min_wait_time, TimePoint now) {
+  bool has_found = false;
+  for (auto &group : running_group_list_) {
+    for (auto &runner : group) {
+      if (runner->HasMoreUrgentTask(min_wait_time, now)) {
+        has_found = true;
+        break;
+      }
+    }
+    if (has_found) {
+      break;
+    }
+  }
+  if (!has_found) {
+    for (auto &group : pending_group_list_) {
+      for (auto &runner : group) {
+        if (runner->HasMoreUrgentTask(min_wait_time, now)) {
+          has_found = true;
+          break;
+        }
+      }
+      if (has_found) {
+        break;
+      }
+    }
+  }
+  return has_found;
+}
+
 } // namespace runner
 } // namespace footstone