diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index b971940fe00b..d8e0a8e8c670 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -256,6 +256,7 @@ jobs:
         isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_tasks"
+        extra-pip-packages: "ovrtx"
         shard-index: "0"
         shard-count: "3"
         container-name: isaac-lab-tasks-1-test
@@ -278,6 +279,7 @@ jobs:
         isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_tasks"
+        extra-pip-packages: "ovrtx"
         shard-index: "1"
         shard-count: "3"
         container-name: isaac-lab-tasks-2-test
@@ -300,6 +302,7 @@ jobs:
         isaacsim-base-image: ${{ needs.config.outputs.isaacsim_image_name }}
         isaacsim-version: ${{ needs.config.outputs.isaacsim_image_tag }}
         filter-pattern: "isaaclab_tasks"
+        extra-pip-packages: "ovrtx"
         shard-index: "2"
         shard-count: "3"
         container-name: isaac-lab-tasks-3-test
diff --git a/.github/workflows/daily-compatibility.yml b/.github/workflows/daily-compatibility.yml
index 2e307bd1a4ad..b85ba3f3b49a 100644
--- a/.github/workflows/daily-compatibility.yml
+++ b/.github/workflows/daily-compatibility.yml
@@ -111,6 +111,7 @@ jobs:
         image-tag: ${{ env.DOCKER_IMAGE_TAG }}
         pytest-options: ""
         filter-pattern: "isaaclab_tasks"
+        extra-pip-packages: "ovrtx"
 
     - name: Copy All Test Results from IsaacLab Tasks Container
       run: |
diff --git a/docs/source/setup/installation/kitless_installation.rst b/docs/source/setup/installation/kitless_installation.rst
index 8a01caddc4d3..4c6768b3dc0a 100644
--- a/docs/source/setup/installation/kitless_installation.rst
+++ b/docs/source/setup/installation/kitless_installation.rst
@@ -105,8 +105,6 @@ OVRTX provides GPU-accelerated rendering for vision tasks without Kit.
 
    ./isaaclab.sh -i ov[ovrtx]
 
-   export LD_PRELOAD=$(python -c "import ovrtx, pathlib; print(pathlib.Path(ovrtx.__file__).parent / 'bin/plugins/libcarb.so')")
-
    ./isaaclab.sh -p scripts/benchmarks/benchmark_rsl_rl.py \
      --task Isaac-Repose-Cube-Shadow-Vision-Benchmark-Direct-v0 \
      --headless --enable_cameras --num_envs 16 --max_iterations 10 \
diff --git a/source/isaaclab_ov/changelog.d/huidongc-ovrtx-keep-system-alive.rst b/source/isaaclab_ov/changelog.d/huidongc-ovrtx-keep-system-alive.rst
new file mode 100644
index 000000000000..834776759402
--- /dev/null
+++ b/source/isaaclab_ov/changelog.d/huidongc-ovrtx-keep-system-alive.rst
@@ -0,0 +1,6 @@
+Fixed
+^^^^^
+
+* Set ``keep_system_alive=True`` on the internal OVRTX ``RendererConfig`` in
+  :class:`~isaaclab_ov.renderers.ovrtx_renderer.OVRTXRenderer` so the renderer
+  system is not torn down prematurely during pytest sessions.
diff --git a/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer.py b/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer.py
index 5d1782373d87..00e0a1d06d3a 100644
--- a/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer.py
+++ b/source/isaaclab_ov/isaaclab_ov/renderers/ovrtx_renderer.py
@@ -201,6 +201,7 @@ def initialize(self, spec: CameraRenderSpec):
             log_file_path=self.cfg.log_file_path,
             log_level=self.cfg.log_level,
             read_gpu_transforms=_IS_OVRTX_0_3_0_OR_NEWER,
+            keep_system_alive=True,
         )
         self._renderer = Renderer(OVRTX_CONFIG)
         assert self._renderer, "Renderer should be valid after creation"
diff --git a/source/isaaclab_tasks/changelog.d/huidongc-enable-ovrtx-rendering.skip b/source/isaaclab_tasks/changelog.d/huidongc-enable-ovrtx-rendering.skip
new file mode 100644
index 000000000000..e69de29bb2d1
diff --git a/source/isaaclab_tasks/test/golden_images/cartpole/newton-ovrtx_renderer-rgb.png b/source/isaaclab_tasks/test/golden_images/cartpole/newton-ovrtx_renderer-rgb.png
index e47c06e2ca7c..f35e82ae6582 100644
--- a/source/isaaclab_tasks/test/golden_images/cartpole/newton-ovrtx_renderer-rgb.png
+++ b/source/isaaclab_tasks/test/golden_images/cartpole/newton-ovrtx_renderer-rgb.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4029eb71d2361c9fa12d255415bb9edcf1caaeb9d230ca2e6c4e67596c037dd1
-size 2580
+oid sha256:3d0e2d1f537f42cb34ed7a0616802193e3ae0bcef43fbc0dc0b015d8af8aa5c8
+size 2685
diff --git a/source/isaaclab_tasks/test/golden_images/cartpole/newton-ovrtx_renderer-rgba.png b/source/isaaclab_tasks/test/golden_images/cartpole/newton-ovrtx_renderer-rgba.png
index 791497af827c..5a53a6f517a6 100644
--- a/source/isaaclab_tasks/test/golden_images/cartpole/newton-ovrtx_renderer-rgba.png
+++ b/source/isaaclab_tasks/test/golden_images/cartpole/newton-ovrtx_renderer-rgba.png
@@ -1,3 +1,3 @@
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-oid sha256:4e1fed2c618875f9f9b4520c52308b0831cf637835e7a62e7a84e96f914c1e83
-size 2882
+oid sha256:d985f4de8667d57b0ba2f44b8181541463c888becb0f38c8716c65c343658dfb
+size 2999
diff --git a/source/isaaclab_tasks/test/golden_images/cartpole/newton-ovrtx_renderer-simple_shading_constant_diffuse.png b/source/isaaclab_tasks/test/golden_images/cartpole/newton-ovrtx_renderer-simple_shading_constant_diffuse.png
index 87104cb87161..583746565afb 100644
--- a/source/isaaclab_tasks/test/golden_images/cartpole/newton-ovrtx_renderer-simple_shading_constant_diffuse.png
+++ b/source/isaaclab_tasks/test/golden_images/cartpole/newton-ovrtx_renderer-simple_shading_constant_diffuse.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:47b5b15d79d0b61d00c0538caa0012172753a481ad6efb45df2888402be2f407
+oid sha256:11db8a198a6ccae0a7cdbce0e996eb74eab1a13dca65bf0e590752a95389a3dd
 size 391
diff --git a/source/isaaclab_tasks/test/golden_images/cartpole/newton-ovrtx_renderer-simple_shading_diffuse_mdl.png b/source/isaaclab_tasks/test/golden_images/cartpole/newton-ovrtx_renderer-simple_shading_diffuse_mdl.png
index 7d05e4a7adbd..b33b4e8fd830 100644
--- a/source/isaaclab_tasks/test/golden_images/cartpole/newton-ovrtx_renderer-simple_shading_diffuse_mdl.png
+++ b/source/isaaclab_tasks/test/golden_images/cartpole/newton-ovrtx_renderer-simple_shading_diffuse_mdl.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:f2ba382c0804ea49b55fc5216c9f1e28c34d5cae95b33d9982fd55763df178cc
-size 435
+oid sha256:bfce56fc89bb014ecc876c4302344085fd2ad1cd6685d2295141256c375b1fc3
+size 436
diff --git a/source/isaaclab_tasks/test/golden_images/cartpole/newton-ovrtx_renderer-simple_shading_full_mdl.png b/source/isaaclab_tasks/test/golden_images/cartpole/newton-ovrtx_renderer-simple_shading_full_mdl.png
index 6b4f8389da06..27d490c4b23f 100644
--- a/source/isaaclab_tasks/test/golden_images/cartpole/newton-ovrtx_renderer-simple_shading_full_mdl.png
+++ b/source/isaaclab_tasks/test/golden_images/cartpole/newton-ovrtx_renderer-simple_shading_full_mdl.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d7af4ef2afca01d0bf4f9c069c5c3778fa07050bcd8091486541ab11f14e8227
-size 742
+oid sha256:f2b846bae771345dc6b5bea0c6148d3942a55cb012b079589ed7104a8357c9e2
+size 776
diff --git a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-albedo.png b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-albedo.png
index 5199099a7587..8e51c396efae 100644
--- a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-albedo.png
+++ b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-albedo.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7cf76622f5f5cc7e7889fe6032ba4cda22516248fa7bb5e957f181c92c86b42b
-size 3054
+oid sha256:04c9b2668a6e544403f00850a1d12f2cc5d661c4b2038a786607880ebc768cb9
+size 2768
diff --git a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-rgb.png b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-rgb.png
index 544e2ffd450b..0395c5f3d11c 100644
--- a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-rgb.png
+++ b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-rgb.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3445142682c88dc5ce11c5d749c7754bf2d54bf0f1aab6420513a733bf3cf645
-size 14919
+oid sha256:4add42d2a43cad3e1bbc17d9f3e190fb6f480c4ace605de42dfdbccf5e02680d
+size 14894
diff --git a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-rgba.png b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-rgba.png
index c3b229d34871..ca7d07531895 100644
--- a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-rgba.png
+++ b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-rgba.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:179a5acba0a763fcc2317cd784f8c347ef48f0d81f8028a1a64996ade67f8706
-size 17836
+oid sha256:71375f209fb2cd8c2e0b7ea463f45ab662bb21b44aec8dcb74994e5969b6aecc
+size 17747
diff --git a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-simple_shading_constant_diffuse.png b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-simple_shading_constant_diffuse.png
index 46ce5933fb8b..7fefafde048e 100644
--- a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-simple_shading_constant_diffuse.png
+++ b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-simple_shading_constant_diffuse.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8e1d94f0c6ae2e40a1b0ff9cf27a0f2f9b756ebcebd9ddf27b0da31c89e3a57f
-size 1485
+oid sha256:dde0d7363cc8550dfa985178d26bf72b6a7f84157ab8503aa36889e652f7e061
+size 1509
diff --git a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-simple_shading_diffuse_mdl.png b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-simple_shading_diffuse_mdl.png
index 2e2f6cb257a7..b5d197da550d 100644
--- a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-simple_shading_diffuse_mdl.png
+++ b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-simple_shading_diffuse_mdl.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:83ca3d8f55f971d473409c73e77582175906670f3962b56723cccd28d062a868
-size 3513
+oid sha256:7608f7f5846d6c78f9c0cf9d19b1eaaed0f79715de26243b8ae20f24ae063617
+size 1465
diff --git a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-simple_shading_full_mdl.png b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-simple_shading_full_mdl.png
index 16b6b73ec7f4..90a2440d093b 100644
--- a/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-simple_shading_full_mdl.png
+++ b/source/isaaclab_tasks/test/golden_images/dexsuite_kuka/newton-ovrtx_renderer-simple_shading_full_mdl.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3afc4f214e51a1ccc1b0341448f64b82773bcc4bba3d913ad4f3052dcf497032
-size 4513
+oid sha256:1563003686040d979ddfe51acdf803f8a46bb268ca569a3fcd757f6e02befcbf
+size 3810
diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-albedo.png b/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-albedo.png
index b0a81304d1b4..0a6d3e09769e 100644
--- a/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-albedo.png
+++ b/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-albedo.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d6ea478eb0b63ac6e9b19c66fabc9944a9cdd1d3131aa0d480ba645151765f41
-size 2150
+oid sha256:4ab0a216128aef68cfc0ebdb94c90f35c74df7283d46e331632c4f5dcc3cb586
+size 1900
diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-rgb.png b/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-rgb.png
index d6e87b16a116..e8d16133a54b 100644
--- a/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-rgb.png
+++ b/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-rgb.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:87b927816b29714d92113b2fcab01569c60372f017119b37ced9a12f72b01cd7
-size 19717
+oid sha256:b827b0e3fc8f009db74351a8535b4c3b2fa0be6274cbd192144dc39d2b40126f
+size 20205
diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-rgba.png b/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-rgba.png
index ddffaebf0722..97cf4a8487f5 100644
--- a/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-rgba.png
+++ b/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-rgba.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7fb6696c895cb07a86897002e434be6c8c67a9d50f15615c2fd16f5038eee209
-size 21761
+oid sha256:901061fc36ba049999e52d742a952340ffed23105e4861f6354d4eb63523d42c
+size 22380
diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-simple_shading_constant_diffuse.png b/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-simple_shading_constant_diffuse.png
index a25340e96b0f..39a18ee2dc1e 100644
--- a/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-simple_shading_constant_diffuse.png
+++ b/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-simple_shading_constant_diffuse.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3122340f40be0b24e9d7f2d262bc7285607536c9cf82151750d2691f05d8950d
-size 6840
+oid sha256:993f13cd9fe6970af68e98f72a66d221c4bd1325256f3dd7a6ea602dbcffbceb
+size 7097
diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-simple_shading_diffuse_mdl.png b/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-simple_shading_diffuse_mdl.png
index 572a1759a30c..5b972abb61c5 100644
--- a/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-simple_shading_diffuse_mdl.png
+++ b/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-simple_shading_diffuse_mdl.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3f0ececab1b4b385c54352d02c9b07d6572f8a4f4069eea1afe2089343a164d6
-size 7429
+oid sha256:b2421be77a60117829b0043448599569e16f8c1f3dcf8ecab5c50125c6838a18
+size 7468
diff --git a/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-simple_shading_full_mdl.png b/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-simple_shading_full_mdl.png
index 687917f13e3b..a5a024b8a9dc 100644
--- a/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-simple_shading_full_mdl.png
+++ b/source/isaaclab_tasks/test/golden_images/shadow_hand/newton-ovrtx_renderer-simple_shading_full_mdl.png
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:88ca19937bbf54a87c40f476c395f678a39d443df3899eb3c74b4e3e854866fc
-size 9192
+oid sha256:7448f0ffd54581488a9fd99a24a0f8304bc1c623122db10f07233094bb2264ff
+size 9241
diff --git a/source/isaaclab_tasks/test/rendering_test_utils.py b/source/isaaclab_tasks/test/rendering_test_utils.py
index f79f55c553a5..1c80f668e749 100644
--- a/source/isaaclab_tasks/test/rendering_test_utils.py
+++ b/source/isaaclab_tasks/test/rendering_test_utils.py
@@ -66,15 +66,8 @@
 # Parametrization: (physics_backend, renderer, data_type)
 # ---------------------------------------------------------------------------
 
-# OVRTX kitless paths can segfault on CI runners; keep warp/Kit paths in CI.
-_SKIP_ON_CI = any(os.environ.get(name) == "true" for name in ("CI", "GITHUB_ACTIONS", "GITLAB_CI"))
-_SKIP_ON_CI_MARK = pytest.mark.skipif(
-    _SKIP_ON_CI,
-    reason="Skipped on CI runners until the test can run on CI runners.",
-)
-
-# Let's just accept the fact that low-resolution camera outputs from RTX renderers are not deterministic enough to pass
-# golden image testing on every CI run.
+# Low-resolution camera outputs from RTX renderers are not deterministic enough to pass golden image testing
+# on every CI run. (NVBUG#6152566)
 _FLAKY_MARK = pytest.mark.flaky(max_runs=3, min_passes=1)
 
 PHYSICS_RENDERER_AOV_COMBINATIONS = [
@@ -200,49 +193,49 @@
         "ovrtx_renderer",
         "rgb",
         id="newton-ovrtx-rgb",
-        marks=_SKIP_ON_CI_MARK,
+        marks=_FLAKY_MARK,
     ),
     pytest.param(
         "newton",
         "ovrtx_renderer",
         "albedo",
         id="newton-ovrtx-albedo",
-        marks=_SKIP_ON_CI_MARK,
+        marks=_FLAKY_MARK,
     ),
     pytest.param(
         "newton",
         "ovrtx_renderer",
         "depth",
         id="newton-ovrtx-depth",
-        marks=_SKIP_ON_CI_MARK,
+        marks=_FLAKY_MARK,
     ),
     pytest.param(
         "newton",
         "ovrtx_renderer",
         "simple_shading_constant_diffuse",
         id="newton-ovrtx-simple_shading_constant_diffuse",
-        marks=_SKIP_ON_CI_MARK,
+        marks=_FLAKY_MARK,
     ),
     pytest.param(
         "newton",
         "ovrtx_renderer",
         "simple_shading_diffuse_mdl",
         id="newton-ovrtx-simple_shading_diffuse_mdl",
-        marks=_SKIP_ON_CI_MARK,
+        marks=_FLAKY_MARK,
     ),
     pytest.param(
         "newton",
         "ovrtx_renderer",
         "simple_shading_full_mdl",
         id="newton-ovrtx-simple_shading_full_mdl",
-        marks=_SKIP_ON_CI_MARK,
+        marks=_FLAKY_MARK,
     ),
     pytest.param(
         "newton",
         "ovrtx_renderer",
         "semantic_segmentation",
         id="newton-ovrtx-semantic_segmentation",
-        marks=_SKIP_ON_CI_MARK,
+        marks=_FLAKY_MARK,
     ),
     # newton + newton_renderer (warp)
     pytest.param(
diff --git a/tools/test_settings.py b/tools/test_settings.py
index 66832541e5cc..aece6deba348 100644
--- a/tools/test_settings.py
+++ b/tools/test_settings.py
@@ -62,6 +62,11 @@
     "test_shadow_hand_vision_presets.py": 5000,
     "test_environments_newton.py": 5000,
     "test_surface_gripper.py": 3000,
+    # For some reason kitless rendering tests take much longer on CI than local machines.
+    # After we pin OVRTX to 0.3 we need to test whether it is still reproducible.
+    "test_rendering_cartpole_kitless.py": 2000,
+    "test_rendering_dexsuite_kuka_kitless.py": 2000,
+    "test_rendering_shadow_hand_kitless.py": 2000,
 }
 """A dictionary of tests and their timeouts in seconds.