diff --git a/tensordict/nn/cudagraphs.py b/tensordict/nn/cudagraphs.py
index 5250bbd4a..fecb4e456 100644
--- a/tensordict/nn/cudagraphs.py
+++ b/tensordict/nn/cudagraphs.py
@@ -4,6 +4,7 @@
 # LICENSE file in the root directory of this source tree.
 from __future__ import annotations
 
+import contextlib
 import functools
 import os
 import warnings
@@ -168,6 +169,12 @@ def __init__(
         if not isinstance(warmup, int) or warmup < 1:
             raise ValueError("warmup must be an integer greater than 0.")
         self._warmup = warmup
+        if torch.cuda.is_available():
+            self._warmup_stream = torch.cuda.Stream()
+            self._warmup_stream_cm = torch.cuda.Stream(self._warmup_stream)
+        else:
+            self._warmup_stream = None
+            self._warmup_stream_cm = contextlib.nullcontext()
 
         if hasattr(module, "in_keys"):
             self.in_keys = module.in_keys
@@ -202,12 +209,17 @@ def _call(
                 **kwargs: Any,
             ) -> Any:
                 if self.counter < self._warmup:
-                    if tensordict_out is not None:
-                        kwargs["tensordict_out"] = tensordict_out
-                    out = self.module(tensordict, *args, **kwargs)
-                    if self._out_matches_in is None:
-                        self._out_matches_in = out is tensordict
+                    if self._warmup_stream is not None:
+                        self._warmup_stream.wait_stream(torch.cuda.current_stream())
+                    with self._warmup_stream_cm:
+                        if tensordict_out is not None:
+                            kwargs["tensordict_out"] = tensordict_out
+                        out = self.module(tensordict, *args, **kwargs)
+                        if self._out_matches_in is None:
+                            self._out_matches_in = out is tensordict
                     self.counter += self._has_cuda
+                    if self._warmup_stream is not None:
+                        torch.cuda.current_stream().wait_stream(self._warmup_stream)
                     return out
                 elif self.counter == self._warmup:
                     if tensordict.device is None:
@@ -273,7 +285,12 @@ def check_tensor_id(name, t0, t1):
 
             def _call(*args: torch.Tensor, **kwargs: torch.Tensor):
                 if self.counter < self._warmup:
-                    out = self.module(*args, **kwargs)
+                    if self._warmup_stream is not None:
+                        self._warmup_stream.wait_stream(torch.cuda.current_stream())
+                    with self._warmup_stream_cm:
+                        out = self.module(*args, **kwargs)
+                    if self._warmup_stream is not None:
+                        torch.cuda.current_stream().wait_stream(self._warmup_stream)
                     self.counter += self._has_cuda
                     return out
                 elif self.counter == self._warmup: