diff --git a/CMakeLists.txt b/CMakeLists.txt
index 91110864..a2098e34 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -122,9 +122,11 @@ else()
     set(DORADO_ENABLE_PCH TRUE)
 endif()
 
-if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
-    if((CMAKE_SYSTEM_PROCESSOR MATCHES "^aarch64*|^arm*") AND (${CUDAToolkit_VERSION} VERSION_LESS 11.0))
+if((CMAKE_SYSTEM_NAME STREQUAL "Linux") AND (CMAKE_SYSTEM_PROCESSOR MATCHES "^aarch64*|^arm*"))
+    if(${CUDAToolkit_VERSION} VERSION_LESS 11.0)
         add_compile_definitions(DORADO_TX2)
+    else()
+        add_compile_definitions(DORADO_ORIN)
     endif()
 endif()
 
diff --git a/dorado/torch_utils/auto_detect_device.h b/dorado/torch_utils/auto_detect_device.h
index 76f8851f..4a6c2135 100644
--- a/dorado/torch_utils/auto_detect_device.h
+++ b/dorado/torch_utils/auto_detect_device.h
@@ -1,6 +1,8 @@
 #pragma once
 
 #if DORADO_CUDA_BUILD
+#include "torch_utils/gpu_monitor.h"
+
 #include <torch/cuda.h>
 #endif
 
@@ -12,7 +14,8 @@ inline std::string get_auto_detected_device() {
 #if DORADO_METAL_BUILD
     return "metal";
 #elif DORADO_CUDA_BUILD
-    return torch::cuda::is_available() ? "cuda:all" : "cpu";
+    // Using get_device_count will force a wait for NVML to load, which will ensure the driver has started up.
+    return utils::gpu_monitor::get_device_count() > 0 ? "cuda:all" : "cpu";
 #else
     return "cpu";
 #endif
diff --git a/dorado/torch_utils/cuda_utils.cpp b/dorado/torch_utils/cuda_utils.cpp
index be406d58..58ce6506 100644
--- a/dorado/torch_utils/cuda_utils.cpp
+++ b/dorado/torch_utils/cuda_utils.cpp
@@ -1,5 +1,6 @@
 #include "cuda_utils.h"
 
+#include "torch_utils/gpu_monitor.h"
 #include "utils/PostCondition.h"
 #include "utils/math_utils.h"
 
@@ -220,8 +221,9 @@ bool try_parse_cuda_device_string(const std::string &device_string,
                                   std::vector<std::string> &devices,
                                   std::string &error_message) {
     std::vector<int> device_ids{};
-    if (!details::try_parse_device_ids(device_string, torch::cuda::device_count(), device_ids,
-                                       error_message)) {
+
+    if (!details::try_parse_device_ids(device_string, utils::gpu_monitor::get_device_count(),
+                                       device_ids, error_message)) {
         return false;
     }
 
@@ -243,7 +245,7 @@ std::vector<std::string> parse_cuda_device_string(const std::string &device_stri
 
 std::vector<CUDADeviceInfo> get_cuda_device_info(const std::string &device_string,
                                                  bool include_unused) {
-    const auto num_devices = torch::cuda::device_count();
+    const auto num_devices = utils::gpu_monitor::get_device_count();
     std::string error_message{};
     std::vector<int> requested_device_ids{};
     if (!details::try_parse_device_ids(device_string, num_devices, requested_device_ids,
diff --git a/dorado/torch_utils/gpu_monitor.cpp b/dorado/torch_utils/gpu_monitor.cpp
index e82bc455..d58df36a 100644
--- a/dorado/torch_utils/gpu_monitor.cpp
+++ b/dorado/torch_utils/gpu_monitor.cpp
@@ -15,11 +15,15 @@
 #else  // _WIN32
 #include <dlfcn.h>
 #endif  // _WIN32
+#if defined(DORADO_ORIN) || defined(DORADO_TX2)
+#include <torch/torch.h>
+#endif  // defined(DORADO_ORIN) || defined(DORADO_TX2)
 #endif  // HAS_NVML
 
 #include <spdlog/spdlog.h>
 
 #include <cassert>
+#include <chrono>
 #include <cstdlib>
 #include <fstream>
 #include <memory>
@@ -164,7 +168,7 @@ class NvmlApi final {
 
     void init() {
         if (!platform_open() || !load_symbols()) {
-            spdlog::warn("Failed to load NVML");
+            spdlog::info("Failed to load NVML");
             clear_symbols();
             platform_close();
             return;
@@ -172,9 +176,23 @@ class NvmlApi final {
 
         // Fall back to the original nvmlInit() if _v2 doesn't exist.
         auto *do_init = m_Init_v2 ? m_Init_v2 : m_Init;
-        nvmlReturn_t result = do_init();
+
+        // We retry initialisation for a certain amount of time, to allow the driver to load on system startup
+        auto start = std::chrono::system_clock::now();
+        auto wait_seconds = std::chrono::seconds(10);
+        nvmlReturn_t result;
+        do {
+            result = do_init();
+            if (result == NVML_SUCCESS) {
+                break;
+            }
+            spdlog::warn("Failed to initialize NVML: {}, retrying in 1s...", m_ErrorString(result));
+            std::this_thread::sleep_for(std::chrono::seconds(1));
+        } while ((std::chrono::system_clock::now() - start) < wait_seconds);
+
         if (result != NVML_SUCCESS) {
-            spdlog::warn("Failed to initialize NVML: {}", m_ErrorString(result));
+            spdlog::warn("Failed to initialize NVML after {} seconds: {}", wait_seconds.count(),
+                         m_ErrorString(result));
             clear_symbols();
             platform_close();
         }
@@ -433,10 +451,11 @@ class DeviceInfoCache final {
                 spdlog::warn("Call to DeviceGetCount failed: {}", m_nvml.ErrorString(result));
             }
         }
-#if defined(DORADO_TX2)
+#if defined(DORADO_ORIN) || defined(DORADO_TX2)
         if (m_device_count == 0) {
-            // TX2 may not have NVML, in which case just report that we have 1.
-            m_device_count = 1;
+            // TX2/Orin may not have NVML, in which case ask torch how many devices it thinks there are.
+            m_device_count = torch::cuda::device_count();
+            spdlog::info("Setting device count to {} as reported from torch", m_device_count);
         }
 #endif
     }