diff --git a/.readthedocs.yml b/.readthedocs.yml
index 9383a9be..464475c6 100644
--- a/.readthedocs.yml
+++ b/.readthedocs.yml
@@ -4,15 +4,19 @@
 version: 2
 
 build:
-  os: ubuntu-22.04
+  os: ubuntu-24.04
   tools:
-    python: "3.10"
+    python: "3.12"
   jobs:
-    post_create_environment:
-      - pip install uv
-    post_install:
-      - VIRTUAL_ENV=$READTHEDOCS_VIRTUALENV_PATH uv pip install doc
-      - VIRTUAL_ENV=$READTHEDOCS_VIRTUALENV_PATH uv pip install mjx/mujoco/mjx/third_party/mujoco_warp
+    create_environment:
+      - asdf plugin add uv
+      - asdf install uv latest
+      - asdf global uv latest
+      - uv venv $READTHEDOCS_VIRTUALENV_PATH
+      - UV_PROJECT_ENVIRONMENT=$READTHEDOCS_VIRTUALENV_PATH uv pip install -r doc/requirements.txt
+      - UV_PROJECT_ENVIRONMENT=$READTHEDOCS_VIRTUALENV_PATH uv pip install mjx/mujoco/mjx/third_party/mujoco_warp
+    install:
+      - "true"  # skip
 
 sphinx:
   builder: html