diff --git a/deps/cloudxr/.env.default b/deps/cloudxr/.env.default
index a4de5e6079..66caf4acb0 100644
--- a/deps/cloudxr/.env.default
+++ b/deps/cloudxr/.env.default
@@ -6,7 +6,7 @@
 # CloudXR Docker Images and Configs
 ###########################################################
 CXR_RUNTIME_SDK_VERSION=6.4.0
-CXR_WEB_SDK_VERSION=6.3.0
+CXR_WEB_SDK_VERSION=6.4.1-isaaccapture
 CXR_HOST_VOLUME_PATH=$HOME/.cloudxr
 
 ###########################################################
diff --git a/deps/cloudxr/webxr_client/helpers/react/CloudXRComponent.tsx b/deps/cloudxr/webxr_client/helpers/react/CloudXRComponent.tsx
index ec403c9802..071ae147a4 100644
--- a/deps/cloudxr/webxr_client/helpers/react/CloudXRComponent.tsx
+++ b/deps/cloudxr/webxr_client/helpers/react/CloudXRComponent.tsx
@@ -74,23 +74,23 @@ const WARMUP_COMPLETE_LOG_PATTERN =
 // override via the streamAttachTimeoutMs prop, not by lowering this default.
 const STREAM_ATTACH_BASE_TIMEOUT_MS = 120000; // 2 minutes
 
-// Debug log for each keep-alive "idle" frame the server sends while no OpenXR app is submitting
-// frames. Not currently emitted by CloudXR.js: until a release that emits it is consumed, and the
-// session logLevel includes Debug, none of the idle-frame handling below runs.
+// Info log for each keep-alive "idle" frame the server sends while no OpenXR app is submitting
+// frames. Emitted by CloudXR.js 6.4.1-isaaccapture and later; with an older SDK none of the
+// idle-frame handling below runs.
 const IDLE_FRAME_LOG_MESSAGE = 'Received idle frame';
 // Idle frames are sent about every 250 ms; this long with none means real frames have started
 // (or the stream stalled), so the warm-up watchdogs resume.
 const IDLE_FRAMES_QUIET_MS = 1000;
 
-// Defaults for the warmupBeginTimeoutMs/warmupEndTimeoutMs props below. 0 disables warm-up
-// detection: a CloudXR runtime with no OpenXR app streams idle frames that count as warm-up
-// frames, so a fixed deadline can tear down a healthy session that is only waiting for an app.
-// Callers that want detection (e.g. tests) set the props. Neither deadline grows per reconnect
-// attempt (see armWarmupBeginTimer/armWarmupEndTimer). Split into two because "no warm-up signal
-// at all since attaching" and "warm-up started but never finishes" are different failure modes
-// worth distinguishing in the synthetic error message.
-const WARMUP_BEGIN_BASE_TIMEOUT_MS = 0; // disabled; first warm-up log since onStreamStarted
-const WARMUP_END_BASE_TIMEOUT_MS = 0; // disabled; completion since warm-up began
+// Defaults for the warmupBeginTimeoutMs/warmupEndTimeoutMs props below. Both shorter than
+// STREAM_ATTACH_BASE_TIMEOUT_MS and, unlike it, neither grows per reconnect attempt (see
+// armWarmupBeginTimer/armWarmupEndTimer): once the stream has attached at all, decoder warm-up
+// is a fast, bounded startup step (server encoder priming), not something that legitimately
+// takes longer on a slow network the way the initial attach can. Split into two deadlines
+// because "no warm-up signal at all since attaching" and "warm-up started but never finishes"
+// are different failure modes worth distinguishing in the synthetic error message.
+const WARMUP_BEGIN_BASE_TIMEOUT_MS = 10000; // 10 seconds - first warm-up log since onStreamStarted
+const WARMUP_END_BASE_TIMEOUT_MS = 30000; // 30 seconds - completion since warm-up began
 
 // setTimeout's delay is stored as a 32-bit signed int internally; a value above this overflows
 // and fires (almost) immediately instead of waiting - the opposite of what a long configured
@@ -115,7 +115,7 @@ export interface WarmupStatus {
 
 /**
  * Server keep-alive ("idle") frame status for the current connection attempt, derived from the
- * SDK's 'Received idle frame' debug log (see IDLE_FRAME_LOG_MESSAGE). Idle frames mean the server
+ * SDK's 'Received idle frame' log (see IDLE_FRAME_LOG_MESSAGE). Idle frames mean the server
  * is alive but no OpenXR app is submitting frames. Reset at the start of each connection attempt.
  */
 export interface IdleStatus {
@@ -189,7 +189,7 @@ interface CloudXRComponentProps {
    * message. Like warmupEndTimeoutMs, does NOT grow per reconnect attempt - warm-up is a fast,
    * bounded server-side priming step once the stream has attached at all, not something that
    * legitimately takes longer under retry the way the initial attach can. Defaults to
-   * WARMUP_BEGIN_BASE_TIMEOUT_MS (0, disabled). A value <= 0 disables this detection, as does
+   * WARMUP_BEGIN_BASE_TIMEOUT_MS (10 seconds). A value <= 0 disables this detection, as does
    * warmupEndTimeoutMs <= 0.
    */
   warmupBeginTimeoutMs?: number;
@@ -200,7 +200,7 @@ interface CloudXRComponentProps {
    * the first warm-up log arrives and cleared by WARMUP_COMPLETE_LOG_PATTERN). See
    * warmupBeginTimeoutMs's doc comment for why this is a separate deadline. Does NOT grow per
    * reconnect attempt, for the same reason warmupBeginTimeoutMs doesn't. Defaults to
-   * WARMUP_END_BASE_TIMEOUT_MS (0, disabled). A value <= 0 disables this detection and
+   * WARMUP_END_BASE_TIMEOUT_MS (30 seconds). A value <= 0 disables this detection and
    * warmupBeginTimeoutMs too (all warm-up detection); stream-attach detection is unaffected.
    */
   warmupEndTimeoutMs?: number;
@@ -749,7 +749,7 @@ export default function CloudXRComponent({
             telemetry: {
               enabled: true,
               appInfo: {
-                version: '6.3.0',
+                version: '6.4.1-isaaccapture',
                 product: applicationName,
               },
             },
diff --git a/deps/cloudxr/webxr_client/package.json b/deps/cloudxr/webxr_client/package.json
index b904bec03a..5ba28f7cb7 100644
--- a/deps/cloudxr/webxr_client/package.json
+++ b/deps/cloudxr/webxr_client/package.json
@@ -1,6 +1,6 @@
 {
   "name": "cloudxr-isaac-lab-teleop",
-  "version": "6.3.0",
+  "version": "6.4.1-isaaccapture",
   "private": true,
   "description": "NVIDIA Isaac Teleop Web Client",
   "author": "NVIDIA Corporation",
@@ -54,7 +54,7 @@
     ]
   },
   "dependencies": {
-    "@nvidia/cloudxr": "file:../nvidia-cloudxr-6.3.0.tgz",
+    "@nvidia/cloudxr": "file:../nvidia-cloudxr-6.4.1-isaaccapture.tgz",
     "@preact/signals-react": "^3.10.0",
     "@react-three/drei": "^10.7.7",
     "@react-three/fiber": "^9.6.0",
diff --git a/deps/cloudxr/webxr_client/src/CloudXR2DUI.tsx b/deps/cloudxr/webxr_client/src/CloudXR2DUI.tsx
index fadaffbd27..77cb2351ad 100644
--- a/deps/cloudxr/webxr_client/src/CloudXR2DUI.tsx
+++ b/deps/cloudxr/webxr_client/src/CloudXR2DUI.tsx
@@ -599,8 +599,8 @@ export class CloudXR2DUI {
       reconnectMaxAttempts: 3,
       reconnectDelayMs: 3000,
       streamAttachTimeoutMs: 120000,
-      warmupBeginTimeoutMs: 0,
-      warmupEndTimeoutMs: 0,
+      warmupBeginTimeoutMs: 10000,
+      warmupEndTimeoutMs: 30000,
       teleopPath: DEFAULT_TELEOP_PATH,
     };
   }
diff --git a/deps/cloudxr/webxr_client/src/index.html b/deps/cloudxr/webxr_client/src/index.html
index fb797d070f..511ddab93e 100644
--- a/deps/cloudxr/webxr_client/src/index.html
+++ b/deps/cloudxr/webxr_client/src/index.html
@@ -1570,7 +1570,7 @@ <h4 class="advanced-divider">Advanced settings</h4>
 
               <div class="config-section">
                 <label for="cloudxrWarmupBeginTimeoutMs" class="input-label"
-                  >Warm-up Begin Timeout (ms, default: 0 / disabled)</label
+                  >Warm-up Begin Timeout (ms, default: 10000 / 10 seconds)</label
                 >
                 <input
                   id="cloudxrWarmupBeginTimeoutMs"
@@ -1580,7 +1580,7 @@ <h4 class="advanced-divider">Advanced settings</h4>
                   step="1000"
                   placeholder="Warm-up begin timeout in ms"
                   spellcheck="false"
-                  value="0"
+                  value="10000"
                 />
                 <div class="config-text">
                   How long to wait, after the stream attaches, for the first sign that decoder
@@ -1592,7 +1592,7 @@ <h4 class="advanced-divider">Advanced settings</h4>
 
               <div class="config-section">
                 <label for="cloudxrWarmupEndTimeoutMs" class="input-label"
-                  >Warm-up End Timeout (ms, default: 0 / disabled)</label
+                  >Warm-up End Timeout (ms, default: 30000 / 30 seconds)</label
                 >
                 <input
                   id="cloudxrWarmupEndTimeoutMs"
@@ -1602,7 +1602,7 @@ <h4 class="advanced-divider">Advanced settings</h4>
                   step="1000"
                   placeholder="Warm-up end timeout in ms"
                   spellcheck="false"
-                  value="0"
+                  value="30000"
                 />
                 <div class="config-text">
                   How long to wait for decoder warm-up to finish once it has begun before treating
diff --git a/deps/cloudxr/webxr_client/tests/mock/MockCloudXR.ts b/deps/cloudxr/webxr_client/tests/mock/MockCloudXR.ts
index 02b03ea18c..d3cc4058a3 100644
--- a/deps/cloudxr/webxr_client/tests/mock/MockCloudXR.ts
+++ b/deps/cloudxr/webxr_client/tests/mock/MockCloudXR.ts
@@ -378,6 +378,10 @@ export class MockCloudXR implements CloudXR.Session {
     throw new Error('MockCloudXR does not support sendServerMessage(); use a real session');
   }
 
+  getDeveloperSettings(): CloudXR.DeveloperSettings {
+    throw new Error('MockCloudXR does not support getDeveloperSettings(); use a real session');
+  }
+
   setMicEnabled(enabled: boolean): boolean {
     if (this.sessionState !== CloudXR.SessionState.Connected) {
       return false;
diff --git a/deps/cloudxr/webxr_client/webpack.common.js b/deps/cloudxr/webxr_client/webpack.common.js
index 5503d4d043..d51ffc15ea 100644
--- a/deps/cloudxr/webxr_client/webpack.common.js
+++ b/deps/cloudxr/webxr_client/webpack.common.js
@@ -38,8 +38,16 @@ try {
 } catch {}
 // Source of truth for the CloudXR SDK is deps/cloudxr/.env.default's
 // CXR_WEB_SDK_VERSION (also controls which tarball `npm install`
-// consumes); package.json.version is just a local-dev fallback.
-const CLIENT_SDK_VERSION = process.env.SDK_VERSION || require('./package.json').version;
+// consumes). Local builds that don't set SDK_VERSION report the installed SDK's own version;
+// this package's version is not the SDK's.
+function installedSdkVersion() {
+  try {
+    return require('@nvidia/cloudxr/package.json').version;
+  } catch {
+    return 'unknown';
+  }
+}
+const CLIENT_SDK_VERSION = process.env.SDK_VERSION || installedSdkVersion();
 const CLIENT_GIT_REF =
   process.env.CLIENT_GIT_REF || git('rev-parse --abbrev-ref HEAD') || 'unknown';
 const CLIENT_GIT_SHA = (process.env.CLIENT_GIT_SHA || git('rev-parse HEAD') || 'unknown').slice(