diff --git a/embodichain/lab/sim/sim_manager.py b/embodichain/lab/sim/sim_manager.py
index c8d1cf875..5f4fc6977 100644
--- a/embodichain/lab/sim/sim_manager.py
+++ b/embodichain/lab/sim/sim_manager.py
@@ -255,6 +255,7 @@ def __new__(cls, sim_config: SimulationManagerCfg = SimulationManagerCfg()):
         instance = super(SimulationManager, cls).__new__(cls)
         # Store sim_config in the instance for use in __init__ or elsewhere
         instance.sim_config = sim_config
+        instance._is_constructed = False
         cls._instances[n_instance] = instance
         return instance
 
@@ -378,6 +379,8 @@ def __init__(
         if sim_config.headless is False:
             self._window = self._world.get_windows()
 
+        self._is_constructed = True
+
     @classmethod
     def get_instance(cls, instance_id: int = 0) -> SimulationManager:
         """Get the instance of SimulationManager by id.
@@ -3117,6 +3120,12 @@ def _deferred_destroy(self) -> None:
             self.stop_window_record()
         self.wait_window_record_saves()
 
+        # Stop the render loop before releasing scene resources. Vulkan window
+        # presentation may otherwise continue acquiring swapchain images while
+        # Env::Clean tears down render objects used by the in-flight frame.
+        if getattr(self, "is_window_opened", False):
+            self.close_window()
+
         import sys, gc
 
         self.clean_materials()
diff --git a/scripts/tutorials/atomic_action/tutorial_utils.py b/scripts/tutorials/atomic_action/tutorial_utils.py
index f90c1b127..8165f8ff3 100644
--- a/scripts/tutorials/atomic_action/tutorial_utils.py
+++ b/scripts/tutorials/atomic_action/tutorial_utils.py
@@ -230,16 +230,30 @@ def run_tutorial(main: Callable[[], None]) -> None:
     Args:
         main: Zero-argument tutorial entry point.
     """
+    interrupted = False
     try:
-        main()
+        try:
+            main()
+        except KeyboardInterrupt:
+            # Handle Ctrl+C before native cleanup.  An active traceback keeps
+            # main() locals (including borrowed C++ material wrappers) alive;
+            # destroying World first would make their later destructors unsafe.
+            interrupted = True
+            logger.log_info("Tutorial interrupted; shutting down cleanly.")
     finally:
         if SimulationManager.is_instantiated():
             sim = SimulationManager.get_instance()
-            if sim.is_window_recording():
-                sim.stop_window_record()
-            sim.wait_window_record_saves()
-            sim.destroy(exit_process=False)
-            SimulationManager.flush_cleanup_queue()
+            if not getattr(sim, "_is_constructed", False):
+                SimulationManager.reset(getattr(sim, "instance_id", 0))
+            else:
+                if sim.is_window_recording():
+                    sim.stop_window_record()
+                sim.wait_window_record_saves()
+                sim.destroy(exit_process=False)
+                SimulationManager.flush_cleanup_queue()
+
+    if interrupted:
+        raise SystemExit(130)
 
 
 def add_ur5_gripper_robot(