diff --git a/include/mujoco/mjrender.h b/include/mujoco/mjrender.h
index b3faf2d7..d273c7d6 100644
--- a/include/mujoco/mjrender.h
+++ b/include/mujoco/mjrender.h
@@ -117,6 +117,13 @@ typedef struct mjrRect_ {         // OpenGL rectangle
 } mjrRect;
 
 
+typedef struct mjrRendererInfo_ {  // active renderer identity
+  const char* renderer;           // renderer family: classic, filament, noop
+  const char* backend;            // graphics backend: opengl, vulkan; empty if uninitialized
+  const char* backend_version;    // backend version string, empty if unknown
+} mjrRendererInfo;
+
+
 typedef struct mjrVertexAttribute_ {  // vertex attribute format specification
   const void* bytes;                  // vertex data
   int usage;                          // position, normal, etc [mjrVertexAttributeUsage]
diff --git a/include/mujoco/mjrfilament.h b/include/mujoco/mjrfilament.h
index 8758786a..79d88fda 100644
--- a/include/mujoco/mjrfilament.h
+++ b/include/mujoco/mjrfilament.h
@@ -104,6 +104,9 @@ mjrfContext* mjrf_createContext(const mjrfContextConfig* config);
 // Destroys the filament rendering context.
 void mjrf_destroyContext(mjrfContext* ctx);
 
+// Gets active renderer information for the given filament context.
+void mjrf_getRendererInfo(mjrfContext* ctx, mjrRendererInfo* info);
+
 typedef enum mjrDrawMode_ {           // how to draw objects in the scene
   mjDRAW_MODE_DEFAULT,                // default colors and lighting
   mjDRAW_MODE_DEFAULT_NO_TEXTURES,    // default, but without textures
diff --git a/include/mujoco/mujoco.h b/include/mujoco/mujoco.h
index e734aaac..83843eec 100644
--- a/include/mujoco/mujoco.h
+++ b/include/mujoco/mujoco.h
@@ -855,6 +855,12 @@ MJAPI void mjv_cameraFrustum(float zver[2], float zhor[2], float zclip[2],  cons
 // Set default mjrContext.
 MJAPI void mjr_defaultContext(mjrContext* con);
 
+// Set default mjrRendererInfo.
+MJAPI void mjr_defaultRendererInfo(mjrRendererInfo* info);
+
+// Get active renderer information.
+MJAPI void mjr_getRendererInfo(mjrRendererInfo* info);
+
 // Allocate resources in custom OpenGL context; fontscale is mjtFontScale.
 MJAPI void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale);
 
diff --git a/python/mujoco/bindings_test.py b/python/mujoco/bindings_test.py
index 6bd5d02a..1af2eaef 100644
--- a/python/mujoco/bindings_test.py
+++ b/python/mujoco/bindings_test.py
@@ -125,6 +125,14 @@ class MuJoCoBindingsTest(parameterized.TestCase):
     self.model: mujoco.MjModel = mujoco.MjModel.from_xml_string(TEST_XML)
     self.data = mujoco.MjData(self.model)
 
+  def test_renderer_info_binding(self):
+    info = mujoco.MjrRendererInfo()
+    mujoco.mjr_getRendererInfo(info)
+
+    self.assertIn(info.renderer, ('classic', 'filament', 'noop'))
+    self.assertIn(info.backend, ('', 'opengl', 'vulkan', 'unknown'))
+    self.assertIsInstance(info.backend_version, str)
+
   def test_load_xml_can_handle_name_clash(self):
     xml_1 = r"""
 <mujoco>
diff --git a/python/mujoco/introspect/functions.py b/python/mujoco/introspect/functions.py
index 4a023ce4..6dea91bf 100644
--- a/python/mujoco/introspect/functions.py
+++ b/python/mujoco/introspect/functions.py
@@ -5480,6 +5480,34 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
          ),
          doc='Set default mjrContext.',
      )),
+    ('mjr_defaultRendererInfo',
+     FunctionDecl(
+         name='mjr_defaultRendererInfo',
+         return_type=ValueType(name='void'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='info',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjrRendererInfo'),
+                 ),
+             ),
+         ),
+         doc='Set default mjrRendererInfo.',
+     )),
+    ('mjr_getRendererInfo',
+     FunctionDecl(
+         name='mjr_getRendererInfo',
+         return_type=ValueType(name='void'),
+         parameters=(
+             FunctionParameterDecl(
+                 name='info',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjrRendererInfo'),
+                 ),
+             ),
+         ),
+         doc='Get active renderer information.',
+     )),
     ('mjr_makeContext',
      FunctionDecl(
          name='mjr_makeContext',
diff --git a/python/mujoco/introspect/structs.py b/python/mujoco/introspect/structs.py
index c71b461f..d246f7c4 100644
--- a/python/mujoco/introspect/structs.py
+++ b/python/mujoco/introspect/structs.py
@@ -10995,6 +10995,34 @@ STRUCTS: Mapping[str, StructDecl] = dict([
              ),
          ),
      )),
+    ('mjrRendererInfo',
+     StructDecl(
+         name='mjrRendererInfo',
+         declname='struct mjrRendererInfo_',
+         fields=(
+             StructFieldDecl(
+                 name='renderer',
+                 type=PointerType(
+                     inner_type=ValueType(name='char', is_const=True),
+                 ),
+                 doc='renderer family: classic, filament, noop',
+             ),
+             StructFieldDecl(
+                 name='backend',
+                 type=PointerType(
+                     inner_type=ValueType(name='char', is_const=True),
+                 ),
+                 doc='graphics backend: opengl, vulkan; empty if uninitialized',
+             ),
+             StructFieldDecl(
+                 name='backend_version',
+                 type=PointerType(
+                     inner_type=ValueType(name='char', is_const=True),
+                 ),
+                 doc='backend version string, empty if unknown',
+             ),
+         ),
+     )),
     ('mjrVertexAttribute',
      StructDecl(
          name='mjrVertexAttribute',
diff --git a/python/mujoco/raw.h b/python/mujoco/raw.h
index 920a419c..7ff1735a 100644
--- a/python/mujoco/raw.h
+++ b/python/mujoco/raw.h
@@ -79,6 +79,7 @@ using MjLogMessage = ::mjLogMessage;
 
 // From mjrender.h
 using MjrRect = ::mjrRect;
+using MjrRendererInfo = ::mjrRendererInfo;
 using MjrContext = ::mjrContext;
 using MjrVertexAttribute = ::mjrVertexAttribute;
 
diff --git a/python/mujoco/render.cc b/python/mujoco/render.cc
index 57c633ec..e58002d1 100644
--- a/python/mujoco/render.cc
+++ b/python/mujoco/render.cc
@@ -245,6 +245,8 @@ PYBIND11_MODULE(_render, pymodule, pybind11::mod_gil_not_used()) {
   using EigenFloatVectorX = Eigen::Vector<float, Eigen::Dynamic>;
 
   // Skipped: mjr_defaultContext (have MjrContext.__init__)
+  Def<traits::mjr_defaultRendererInfo>(pymodule);
+  Def<traits::mjr_getRendererInfo>(pymodule);
   // Skipped: mjr_makeContext (have MjrContext.__init__)
   Def<traits::mjr_changeFont>(pymodule);
   Def<traits::mjr_addAux>(pymodule);
diff --git a/python/mujoco/structs.cc b/python/mujoco/structs.cc
index 359b14eb..a6d860e6 100644
--- a/python/mujoco/structs.cc
+++ b/python/mujoco/structs.cc
@@ -1049,6 +1049,36 @@ This is useful for example when the MJB is not available as a file on disk.)"));
   X(height);
 #undef X
 
+  // ==================== MJRRENDERERINFO ======================================
+  py::class_<raw::MjrRendererInfo> mjrRendererInfo(m, "MjrRendererInfo");
+  mjrRendererInfo.def(py::init([]() {
+    raw::MjrRendererInfo info;
+    mjr_defaultRendererInfo(&info);
+    return info;
+  }));
+  mjrRendererInfo.def("__copy__", [](const raw::MjrRendererInfo& other) {
+    return raw::MjrRendererInfo(other);
+  });
+  mjrRendererInfo.def("__deepcopy__",
+                      [](const raw::MjrRendererInfo& other, py::dict) {
+                        return raw::MjrRendererInfo(other);
+  });
+  DefineStructFunctions(mjrRendererInfo);
+  mjrRendererInfo.def_property_readonly("renderer",
+                                        [](const raw::MjrRendererInfo& info) {
+                                          return info.renderer ? info.renderer
+                                                               : "";
+                                        });
+  mjrRendererInfo.def_property_readonly("backend",
+                                        [](const raw::MjrRendererInfo& info) {
+                                          return info.backend ? info.backend
+                                                              : "";
+                                        });
+  mjrRendererInfo.def_property_readonly(
+      "backend_version", [](const raw::MjrRendererInfo& info) {
+        return info.backend_version ? info.backend_version : "";
+      });
+
   // ==================== MJRVERTEXATTRIBUTE ===================================
   py::class_<raw::MjrVertexAttribute> mjrVertexAttribute(m,
                                                          "MjrVertexAttribute");
diff --git a/src/experimental/filament/mjr_compat.cc b/src/experimental/filament/mjr_compat.cc
index c1da2fd3..e081f173 100644
--- a/src/experimental/filament/mjr_compat.cc
+++ b/src/experimental/filament/mjr_compat.cc
@@ -57,6 +57,8 @@ class CompatContext {
     scene_bridge_->UploadHeightField(model, id);
   }
 
+  mjrfContext* Context() const { return context_.get(); }
+
  private:
   mjrDrawMode draw_mode_ = mjDRAW_MODE_DEFAULT;
   UniquePtr<mjrfContext> context_{nullptr, nullptr};
@@ -189,6 +191,20 @@ void mjr_defaultContext(mjrContext* con) {
   memset(con, 0, sizeof(mjrContext));
 }
 
+void mjr_defaultRendererInfo(mjrRendererInfo* info) {
+  memset(info, 0, sizeof(mjrRendererInfo));
+  info->renderer = "filament";
+  info->backend = "";
+  info->backend_version = "";
+}
+
+void mjr_getRendererInfo(mjrRendererInfo* info) {
+  mjr_defaultRendererInfo(info);
+  if (g_context) {
+    mjrf_getRendererInfo(g_context->Context(), info);
+  }
+}
+
 void mjr_makeFilamentContext(const mjModel* m, const mjrfContextConfig* cfg,
                              mjrContext* con) {
   if (g_context != nullptr) {
diff --git a/src/render/classic/render_context.c b/src/render/classic/render_context.c
index c7a5dd0b..c59653c4 100644
--- a/src/render/classic/render_context.c
+++ b/src/render/classic/render_context.c
@@ -55,6 +55,30 @@ void mjr_defaultContext(mjrContext* con) {
   memset(con, 0, sizeof(mjrContext));
 }
 
+static int context_count = 0;
+
+static int contextHasResources(const mjrContext* con) {
+  return con->ntexture || con->offColor || con->offDepthStencil || con->offFBO ||
+         con->shadowTex || con->shadowFBO || con->rangePlane || con->rangeMesh ||
+         con->rangeHField || con->rangeBuiltin || con->rangeFont || con->nskin;
+}
+
+// set default mjrRendererInfo
+void mjr_defaultRendererInfo(mjrRendererInfo* info) {
+  memset(info, 0, sizeof(mjrRendererInfo));
+  info->renderer = "classic";
+  info->backend = "";
+  info->backend_version = "";
+}
+
+// get active renderer information
+void mjr_getRendererInfo(mjrRendererInfo* info) {
+  mjr_defaultRendererInfo(info);
+  if (context_count > 0) {
+    info->backend = "opengl";
+  }
+}
+
 
 
 // allocate lists
@@ -1608,6 +1632,7 @@ void mjr_makeContext_offSize(const mjModel* m, mjrContext* con, int fontscale,
     // try to bind window (bind offscreen if no window)
     mjr_setBuffer(mjFB_WINDOW, con);
 
+    context_count++;
     return;
   }
 
@@ -1667,6 +1692,7 @@ void mjr_makeContext_offSize(const mjModel* m, mjrContext* con, int fontscale,
 
   // set default depth mapping for mjr_readPixels
   con->readDepthMap = mjDEPTH_ZERONEAR;
+  context_count++;
 }
 
 
@@ -1811,6 +1837,8 @@ void mjr_addAux(int index, int width, int height, int samples, mjrContext* con)
 
 // free resources in custom OpenGL context
 void mjr_freeContext(mjrContext* con) {
+  int had_resources = contextHasResources(con);
+
   // save flags
   int glInitialized = con->glInitialized;
   int windowAvailable = con->windowAvailable;
@@ -1867,6 +1895,10 @@ void mjr_freeContext(mjrContext* con) {
   con->windowSamples = windowSamples;
   con->windowStereo = windowStereo;
   con->windowDoublebuffer = windowDoublebuffer;
+
+  if (had_resources && context_count > 0) {
+    context_count--;
+  }
 }
 
 
diff --git a/src/render/filament/core/filament_context.cc b/src/render/filament/core/filament_context.cc
index b3efd784..5e2921d5 100644
--- a/src/render/filament/core/filament_context.cc
+++ b/src/render/filament/core/filament_context.cc
@@ -49,6 +49,7 @@ namespace mujoco {
 FilamentContext::FilamentContext(const mjrfContextConfig* config)
     : config_(*config) {
   FilamentPlatformSetup setup = CreateFilamentPlatform(config_);
+  backend_ = setup.backend;
   platform_ = std::move(setup.platform);
 
   filament::Engine::Config engine_config;
@@ -58,7 +59,7 @@ FilamentContext::FilamentContext(const mjrfContextConfig* config)
 
   filament::Engine::Builder engine_builder;
   engine_builder.config(&engine_config);
-  engine_builder.backend(setup.backend);
+  engine_builder.backend(backend_);
   engine_builder.platform(platform_.get());
   engine_builder.feature("backend.disable_parallel_shader_compile",
                          setup.disable_parallel_shader_compile);
diff --git a/src/render/filament/core/filament_context.h b/src/render/filament/core/filament_context.h
index fe62b967..4adf0ab8 100644
--- a/src/render/filament/core/filament_context.h
+++ b/src/render/filament/core/filament_context.h
@@ -59,6 +59,8 @@ class FilamentContext : public mjrfContext {
 
   filament::Engine* GetEngine() const { return engine_; }
 
+  filament::Engine::Backend GetBackend() const { return backend_; }
+
   ObjectManager* GetObjectManager() const { return object_manager_.get(); }
 
   MaterialManager* GetMaterialManager() const {
@@ -76,6 +78,7 @@ class FilamentContext : public mjrfContext {
   void ValidateSwapChains(std::span<const mjrfRenderRequest> render_requests);
 
   mjrfContextConfig config_;
+  filament::Engine::Backend backend_;
   filament::Engine* engine_ = nullptr;
   filament::Renderer* renderer_ = nullptr;
   filament::SwapChain* window_swap_chain_ = nullptr;
diff --git a/src/render/filament/mjrfilament.cc b/src/render/filament/mjrfilament.cc
index d3c61304..701dc562 100644
--- a/src/render/filament/mjrfilament.cc
+++ b/src/render/filament/mjrfilament.cc
@@ -37,6 +37,17 @@ static void setf(float (&arr)[N], const std::array<float, N>& values) {
   }
 }
 
+static const char* BackendName(filament::Engine::Backend backend) {
+  switch (backend) {
+    case filament::Engine::Backend::OPENGL:
+      return "opengl";
+    case filament::Engine::Backend::VULKAN:
+      return "vulkan";
+    default:
+      return "unknown";
+  }
+}
+
 extern "C" {
 
 void mjrf_defaultContextConfig(mjrfContextConfig* config) {
@@ -124,6 +135,13 @@ void mjrf_destroyContext(mjrfContext* ctx) {
   delete mujoco::FilamentContext::downcast(ctx);
 }
 
+void mjrf_getRendererInfo(mjrfContext* ctx, mjrRendererInfo* info) {
+  memset(info, 0, sizeof(mjrRendererInfo));
+  info->renderer = "filament";
+  info->backend = ctx ? BackendName(mujoco::FilamentContext::downcast(ctx)->GetBackend()) : "";
+  info->backend_version = "";
+}
+
 mjrfTexture* mjrf_createTexture(mjrfContext* ctx,
                                 const mjrfTextureConfig* config) {
   return new mujoco::Texture(
diff --git a/src/render/noop/render_noop.c b/src/render/noop/render_noop.c
index a928e96d..411eb22b 100644
--- a/src/render/noop/render_noop.c
+++ b/src/render/noop/render_noop.c
@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <mujoco/mujoco.h>
+#include <string.h>
 
 // This library implements the entirety of mujoco's mjr API as fast-fail stubs.
 // You can link this library with your application (instead of standard renderer
@@ -22,6 +23,15 @@
 void mjr_defaultContext(mjrContext* con) {
   mju_error("mjr_defaultContext not implemented.");
 }
+void mjr_defaultRendererInfo(mjrRendererInfo* info) {
+  memset(info, 0, sizeof(mjrRendererInfo));
+  info->renderer = "noop";
+  info->backend = "";
+  info->backend_version = "";
+}
+void mjr_getRendererInfo(mjrRendererInfo* info) {
+  mjr_defaultRendererInfo(info);
+}
 void mjr_makeContext(const mjModel* m, mjrContext* con, int fontscale) {
   mju_error("mjr_makeContext not implemented.");
 }