diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 4762eb73..b2daab71 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -24,8 +24,24 @@ jobs:
       fail-fast: false
       matrix:
         include:
+          - os: ubuntu-24.04
+            label: "ubuntu-24.04-gcc-14"
+            cmake_args: >-
+              -G Ninja
+              -DCMAKE_C_COMPILER:STRING=gcc-14
+              -DCMAKE_CXX_COMPILER:STRING=g++-14
+              -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed
+            tmpdir: "/tmp"
+          - os: ubuntu-24.04
+            label: "ubuntu-24.04-gcc-13"
+            cmake_args: >-
+              -G Ninja
+              -DCMAKE_C_COMPILER:STRING=gcc-13
+              -DCMAKE_CXX_COMPILER:STRING=g++-13
+              -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed
+            tmpdir: "/tmp"
           - os: ubuntu-22.04
-            additional_label: "-gcc-12"
+            label: "ubuntu-22.04-gcc-12"
             cmake_args: >-
               -G Ninja
               -DCMAKE_C_COMPILER:STRING=gcc-12
@@ -33,7 +49,7 @@ jobs:
               -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed
             tmpdir: "/tmp"
           - os: ubuntu-22.04
-            additional_label: "-gcc-11"
+            label: "ubuntu-22.04-gcc-11"
             cmake_args: >-
               -G Ninja
               -DCMAKE_C_COMPILER:STRING=gcc-11
@@ -41,23 +57,47 @@ jobs:
               -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed
             tmpdir: "/tmp"
           - os: ubuntu-22.04
-            additional_label: "-gcc-10"
+            label: "ubuntu-22.04-gcc-10"
             cmake_args: >-
               -G Ninja
               -DCMAKE_C_COMPILER:STRING=gcc-10
               -DCMAKE_CXX_COMPILER:STRING=g++-10
               -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed
             tmpdir: "/tmp"
-          - os: ubuntu-22.04
-            additional_label: "-gcc-9"
+          - os: ubuntu-24.04
+            label: "ubuntu-24.04-clang-18"
             cmake_args: >-
               -G Ninja
-              -DCMAKE_C_COMPILER:STRING=gcc-9
-              -DCMAKE_CXX_COMPILER:STRING=g++-9
-              -DCMAKE_EXE_LINKER_FLAGS:STRING=-Wl,--no-as-needed
+              -DCMAKE_C_COMPILER:STRING=clang-18
+              -DCMAKE_CXX_COMPILER:STRING=clang++-18
+              -DMUJOCO_HARDEN:BOOL=ON
+            tmpdir: "/tmp"
+          - os: ubuntu-24.04
+            label: "ubuntu-24.04-clang-17"
+            cmake_args: >-
+              -G Ninja
+              -DCMAKE_C_COMPILER:STRING=clang-17
+              -DCMAKE_CXX_COMPILER:STRING=clang++-17
+              -DMUJOCO_HARDEN:BOOL=ON
+            tmpdir: "/tmp"
+          - os: ubuntu-24.04
+            label: "ubuntu-24.04-clang-16"
+            cmake_args: >-
+              -G Ninja
+              -DCMAKE_C_COMPILER:STRING=clang-16
+              -DCMAKE_CXX_COMPILER:STRING=clang++-16
+              -DMUJOCO_HARDEN:BOOL=ON
             tmpdir: "/tmp"
           - os: ubuntu-22.04
-            additional_label: "-clang-14"
+            label: "ubuntu-22.04-clang-15"
+            cmake_args: >-
+              -G Ninja
+              -DCMAKE_C_COMPILER:STRING=clang-15
+              -DCMAKE_CXX_COMPILER:STRING=clang++-15
+              -DMUJOCO_HARDEN:BOOL=ON
+            tmpdir: "/tmp"
+          - os: ubuntu-22.04
+            label: "ubuntu-22.04-clang-14"
             cmake_args: >-
               -G Ninja
               -DCMAKE_C_COMPILER:STRING=clang-14
@@ -65,49 +105,33 @@ jobs:
               -DMUJOCO_HARDEN:BOOL=ON
             tmpdir: "/tmp"
           - os: ubuntu-22.04
-            additional_label: "-clang-13"
+            label: "ubuntu-22.04-clang-13"
             cmake_args: >-
               -G Ninja
               -DCMAKE_C_COMPILER:STRING=clang-13
               -DCMAKE_CXX_COMPILER:STRING=clang++-13
               -DMUJOCO_HARDEN:BOOL=ON
             tmpdir: "/tmp"
-          - os: ubuntu-20.04
-            additional_label: "-clang-12"
-            cmake_args: >-
-              -G Ninja
-              -DCMAKE_C_COMPILER:STRING=clang-12
-              -DCMAKE_CXX_COMPILER:STRING=clang++-12
-              -DMUJOCO_HARDEN:BOOL=ON
-            tmpdir: "/tmp"
-          - os: ubuntu-20.04
-            additional_label: "-clang-11"
-            cmake_args: >-
-              -G Ninja
-              -DCMAKE_C_COMPILER:STRING=clang-11
-              -DCMAKE_CXX_COMPILER:STRING=clang++-11
-              -DMUJOCO_HARDEN:BOOL=ON
-            tmpdir: "/tmp"
-          - os: ubuntu-20.04
-            additional_label: "-clang-10"
-            cmake_args: >-
-              -G Ninja
-              -DCMAKE_C_COMPILER:STRING=clang-10
-              -DCMAKE_CXX_COMPILER:STRING=clang++-10
-              -DMUJOCO_HARDEN:BOOL=ON
-            tmpdir: "/tmp"
-          - os: macos-13
+          - os: macos-15
+            label: "macos-15-arm64"
             cmake_args: >-
               -G Ninja
               -DMUJOCO_HARDEN:BOOL=ON
             tmpdir: "/tmp"
-          - os: windows-2022
+          - os: macos-15-large
+            label: "macos-15-x86_64"
             cmake_args: >-
-              -DCMAKE_SYSTEM_VERSION="10.0.22621.0"
+              -G Ninja
+              -DMUJOCO_HARDEN:BOOL=ON
+            tmpdir: "/tmp"
+          - os: windows-2025
+            label: "windows-2025"
+            cmake_args: >-
+              -DCMAKE_SYSTEM_VERSION="10.0.26100.0"
             cmake_build_args: "-- -m"
             tmpdir: "C:/Temp"
 
-    name: "${{ matrix.os }}${{ matrix.additional_label }}"
+    name: "${{ matrix.label }}"
     runs-on: ${{ matrix.os }}
 
     steps:
@@ -273,7 +297,7 @@ jobs:
         CHATMSG_AUTHOR_NAME: ${{ github.event.head_commit.author.name }}
         CHATMSG_AUTHOR_EMAIL: ${{ github.event.head_commit.author.email }}
         CHATMSG_COMMIT_MESSAGE: ${{ github.event.head_commit.message }}
-        CHATMSG_JOB_ID: ${{ matrix.os }}${{ matrix.additional_label }}
+        CHATMSG_JOB_ID: ${{ matrix.label }}
       if: ${{ failure() && github.event_name == 'push' && env.GCHAT_API_URL != '' }}
       run: |
         CHATMSG="$(cat <<-'EOF' | python3
@@ -288,7 +312,7 @@ jobs:
             email=env('CHATMSG_AUTHOR_EMAIL'),
             msg=env('CHATMSG_COMMIT_MESSAGE').replace('```', '')
         )
-        text = '<{result}|*FAILURE*>: job `{job}` commit `{commit}`\n```Author: {name}<{email}>\n\n{msg}```'.format(**data)
+        text = '<{result}|*FAILURE*>: job `{job}` commit `{commit}`\n```Author: {name} <{email}>\n\n{msg}```'.format(**data)
         print(json.dumps({'text' : text}))
         EOF
         )" &&
diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt
index c22ea4a7..6489c562 100644
--- a/simulate/CMakeLists.txt
+++ b/simulate/CMakeLists.txt
@@ -110,6 +110,7 @@ target_sources(
 target_compile_options(platform_ui_adapter PRIVATE ${MUJOCO_SIMULATE_COMPILE_OPTIONS})
 if(APPLE)
   target_sources(platform_ui_adapter PUBLIC glfw_corevideo.h PRIVATE glfw_corevideo.mm)
+  set_source_files_properties(glfw_corevideo.mm PROPERTIES COMPILE_FLAGS -Wno-deprecated-declarations)
   target_link_libraries(platform_ui_adapter PUBLIC "-framework CoreVideo")
 endif()
 target_include_directories(