diff --git a/openhands-sdk/openhands/sdk/utils/async_executor.py b/openhands-sdk/openhands/sdk/utils/async_executor.py
index cf6911f4d2..2e25e81300 100644
--- a/openhands-sdk/openhands/sdk/utils/async_executor.py
+++ b/openhands-sdk/openhands/sdk/utils/async_executor.py
@@ -1,11 +1,16 @@
 """Reusable async-to-sync execution utility."""
 
 import asyncio
+import concurrent.futures
 import inspect
 import threading
+import time
+from typing import Any, Coroutine
 from collections.abc import Callable
-from typing import Any
 
+from openhands.sdk.logger import get_logger
+
+logger = get_logger(__name__)
 
 class AsyncExecutor:
     """
@@ -21,12 +26,28 @@ def __init__(self):
         self._loop: asyncio.AbstractEventLoop | None = None
         self._thread: threading.Thread | None = None
         self._lock = threading.Lock()
+        self._shutdown = threading.Event()
 
-    def _ensure_loop(self) -> asyncio.AbstractEventLoop:
+    def _safe_submit_on_loop(
+            self, coro: Coroutine
+        ) -> concurrent.futures.Future:
         """Ensure the background event loop is running."""
         with self._lock:
+            if self._shutdown.is_set():
+                raise RuntimeError("AsyncExecutor has been shut down")
+
             if self._loop is not None:
-                return self._loop
+                if self._loop.is_running():
+                    return asyncio.run_coroutine_threadsafe(coro, self._loop)
+
+                logger.warning(
+                    "The loop is not empty, but it is not in a running state. "
+                "Under normal circumstances, this should not happen."
+                )
+                try:
+                    self._loop.close()
+                except RuntimeError as e:
+                    logger.warning(f"Failed to close inactive loop: {e}")
 
             loop = asyncio.new_event_loop()
 
@@ -39,15 +60,22 @@ def _runner():
 
             # Wait for loop to start
             while not loop.is_running():
-                pass
+                time.sleep(0.01)
 
             self._loop = loop
             self._thread = t
-            return loop
+            return asyncio.run_coroutine_threadsafe(coro, self._loop)
 
     def _shutdown_loop(self) -> None:
         """Shutdown the background event loop."""
+        if self._shutdown.is_set():
+            logger.info("AsyncExecutor has been shut down")
+            return
+
         with self._lock:
+            if self._shutdown.is_set():
+                return
+            self._shutdown.set()
             loop, t = self._loop, self._thread
             self._loop = None
             self._thread = None
@@ -59,6 +87,20 @@ def _shutdown_loop(self) -> None:
                 pass
         if t and t.is_alive():
             t.join(timeout=1.0)
+            if t.is_alive():
+                logger.warning("AsyncExecutor thread did not terminate gracefully")
+
+        if loop and not loop.is_closed():
+            try:
+                if loop.is_running():
+                    tasks = asyncio.all_tasks(loop)
+                    for task in tasks:
+                        if not task.done():
+                            task.cancel()
+
+                loop.close()
+            except RuntimeError as e:
+                logger.warning(f"Failed to close event loop: {e}")
 
     def run_async(
         self,
@@ -83,6 +125,8 @@ def run_async(
             TypeError: If awaitable_or_fn is not a coroutine or async function
             asyncio.TimeoutError: If the operation times out
         """
+        if self._shutdown.is_set():
+            raise RuntimeError("AsyncExecutor has been shut down")
         if inspect.iscoroutine(awaitable_or_fn):
             coro = awaitable_or_fn
         elif inspect.iscoroutinefunction(awaitable_or_fn):
@@ -90,9 +134,15 @@ def run_async(
         else:
             raise TypeError("run_async expects a coroutine or async function")
 
-        loop = self._ensure_loop()
-        fut = asyncio.run_coroutine_threadsafe(coro, loop)
-        return fut.result(timeout)
+        fut = self._safe_submit_on_loop(coro)
+
+        try:
+            return fut.result(timeout)
+        except asyncio.TimeoutError:
+            fut.cancel()
+            raise
+        except concurrent.futures.CancelledError:
+            raise
 
     def close(self):
         """Close the async executor and cleanup resources."""