diff --git a/src/mjlab/sim/sim.py b/src/mjlab/sim/sim.py
index d1a8f9a59..5a300d8c1 100644
--- a/src/mjlab/sim/sim.py
+++ b/src/mjlab/sim/sim.py
@@ -18,6 +18,9 @@
   ModelBridge = WarpBridge
   DataBridge = WarpBridge
 
+# mujoco_warp uses 'wp.capture_while' which strictly requires Driver 12.4+
+_MIN_DRIVER_FOR_CONDITIONAL_GRAPHS = 12.4
+
 _JACOBIAN_MAP = {
   "auto": mujoco.mjtJacobian.mjJAC_AUTO,
   "dense": mujoco.mjtJacobian.mjJAC_DENSE,
@@ -128,9 +131,18 @@ def __init__(
     self._model_bridge = WarpBridge(self._wp_model, nworld=self.num_envs)
     self._data_bridge = WarpBridge(self._wp_data)
 
-    self.use_cuda_graph = self.wp_device.is_cuda and wp.is_mempool_enabled(
-      self.wp_device
+    driver_ver = wp.context.runtime.driver_version
+    driver_ver = float(f"{driver_ver[0]}.{driver_ver[1]}")
+    self.use_cuda_graph = (
+      self.wp_device.is_cuda
+      and wp.is_mempool_enabled(self.wp_device)
+      and driver_ver >= _MIN_DRIVER_FOR_CONDITIONAL_GRAPHS
     )
+
+    if not self.use_cuda_graph:
+      print(f"[WARNING] Disabling CUDA Graphs. Current Driver {driver_ver} < 12.4.")
+      print("           mujoco_warp solver requires 12.4+ for graph loops.")
+
     self.create_graph()
 
     self.nan_guard = NanGuard(cfg.nan_guard, self.num_envs, self._mj_model)