How to create a cloud code function launched after some time in Parse

I have an Angularjs/Cordova app that use Parse as its backend.

I need to time a function to be called after a few minutes from an afterSave trigger in parse.

For more details, I have to save a row in a table, and after excatly 3 minutes, this row will expire and needs to be deleted.

How can this be achieved in parse?

Any help is appreciated.