diff --git a/library/std/src/sys/thread/mod.rs b/library/std/src/sys/thread/mod.rs
index 381031e318c97..5010774dafde2 100644
--- a/library/std/src/sys/thread/mod.rs
+++ b/library/std/src/sys/thread/mod.rs
@@ -91,7 +91,7 @@ cfg_select! {
     }
     target_os = "vexos" => {
         mod vexos;
-        pub use vexos::{sleep, yield_now};
+        pub use vexos::{sleep, sleep_until, yield_now};
         #[expect(dead_code)]
         mod unsupported;
         pub use unsupported::{Thread, available_parallelism, current_os_id, set_name, DEFAULT_MIN_STACK_SIZE};
@@ -135,6 +135,8 @@ cfg_select! {
     target_os = "vxworks",
     target_os = "wasi",
     target_vendor = "apple",
+    target_os = "motor",
+    target_os = "vexos"
 )))]
 pub fn sleep_until(deadline: crate::time::Instant) {
     use crate::time::Instant;
diff --git a/library/std/src/sys/thread/motor.rs b/library/std/src/sys/thread/motor.rs
index 3c6df936b0ae7..c6a7b5ac356b3 100644
--- a/library/std/src/sys/thread/motor.rs
+++ b/library/std/src/sys/thread/motor.rs
@@ -3,7 +3,7 @@ use crate::io;
 use crate::num::NonZeroUsize;
 use crate::sys::map_motor_error;
 use crate::thread::ThreadInit;
-use crate::time::Duration;
+use crate::time::{Duration, Instant};
 
 pub const DEFAULT_MIN_STACK_SIZE: usize = 1024 * 256;
 
@@ -62,3 +62,7 @@ pub fn yield_now() {
 pub fn sleep(dur: Duration) {
     moto_rt::thread::sleep_until(moto_rt::time::Instant::now() + dur)
 }
+
+pub fn sleep_until(deadline: Instant) {
+    moto_rt::thread::sleep_until(deadline.into_inner())
+}
diff --git a/library/std/src/sys/thread/vexos.rs b/library/std/src/sys/thread/vexos.rs
index d917dde4d0bc1..4311786720c45 100644
--- a/library/std/src/sys/thread/vexos.rs
+++ b/library/std/src/sys/thread/vexos.rs
@@ -10,8 +10,12 @@ pub fn sleep(dur: Duration) {
     let start = Instant::now();
 
     while start.elapsed() < dur {
-        unsafe {
-            vex_sdk::vexTasksRun();
-        }
+        yield_now();
+    }
+}
+
+pub fn sleep_until(deadline: Instant) {
+    while Instant::now() < deadline {
+        yield_now();
     }
 }