diff --git a/test/test_collectors.py b/test/test_collectors.py
index 09c86c17b5d..78781824fad 100644
--- a/test/test_collectors.py
+++ b/test/test_collectors.py
@@ -1425,6 +1425,61 @@ def make_env():
             root_shifted = ref_data.get(k)[..., 1:, :]
             torch.testing.assert_close(ref_next[mask], root_shifted[mask])
 
+    @pytest.mark.parametrize("use_buffers", [True, False])
+    def test_fake_tensordict_single_matches_iter(self, use_buffers):
+        """``Collector.fake_tensordict()`` mirrors the shape and keys of a real batch."""
+
+        def make_env():
+            return TransformedEnv(ContinuousActionVecMockEnv(), InitTracker())
+
+        c = Collector(
+            create_env_fn=make_env,
+            policy=RandomPolicy(make_env().action_spec),
+            frames_per_batch=20,
+            total_frames=20,
+            use_buffers=use_buffers,
+        )
+        try:
+            fake = c.fake_tensordict()
+            torch.manual_seed(0)
+            real = next(iter(c))
+            assert fake.batch_size == real.batch_size, (
+                fake.batch_size,
+                real.batch_size,
+            )
+            assert fake.names == real.names
+            fake_keys = sorted(map(str, fake.keys(True, True)))
+            real_keys = sorted(map(str, real.keys(True, True)))
+            assert fake_keys == real_keys, set(real_keys) ^ set(fake_keys)
+            for key, val in fake.items(True, True):
+                if (
+                    val.dtype in (torch.bool, torch.uint8)
+                    or not val.is_floating_point()
+                ):
+                    continue
+                assert not val.any(), f"{key} is not zeroed"
+        finally:
+            c.shutdown()
+
+    def test_fake_tensordict_multi_raises(self):
+        """``MultiCollector.fake_tensordict()`` is intentionally not implemented."""
+
+        def make_env():
+            return TransformedEnv(ContinuousActionVecMockEnv(), InitTracker())
+
+        c = MultiCollector(
+            create_env_fn=[make_env, make_env],
+            policy=RandomPolicy(make_env().action_spec),
+            frames_per_batch=20,
+            total_frames=20,
+            sync=True,
+        )
+        try:
+            with pytest.raises(NotImplementedError, match="fake_tensordict"):
+                c.fake_tensordict()
+        finally:
+            c.shutdown()
+
     @pytest.mark.parametrize("env_class", [CountingEnv, CountingBatchedEnv])
     def test_initial_obs_consistency(self, env_class, seed=1):
         # non regression test on #938
diff --git a/torchrl/collectors/_multi_base.py b/torchrl/collectors/_multi_base.py
index b6b529b6677..f8f4d9be954 100644
--- a/torchrl/collectors/_multi_base.py
+++ b/torchrl/collectors/_multi_base.py
@@ -1056,6 +1056,25 @@ def _add_policy_outputs_to_fake_td(self, fake_td):
             fake_td.set(key, policy_output.get(key))
         return fake_td
 
+    def fake_tensordict(self) -> TensorDictBase:
+        """Not implemented for multi-process collectors.
+
+        Honoring the multi-collector contract here would require either
+        creating an env in the main process (which defeats the purpose of
+        a multi-process collector — Isaac Lab / mujoco-mjx etc. can only
+        run in workers) or routing a request to a worker over the pipe
+        (which requires workers to be alive and adds protocol surface).
+        Neither is implemented; call :meth:`~torchrl.collectors.Collector.fake_tensordict`
+        on a single :class:`~torchrl.collectors.Collector` instead, or
+        build the template directly from the env spec.
+        """
+        raise NotImplementedError(
+            f"{type(self).__name__}.fake_tensordict() is not implemented. "
+            "Use Collector.fake_tensordict() on a single-process collector "
+            "for storage / cudagraph warmup, or build the template from the "
+            "env spec directly."
+        )
+
     @classmethod
     def _total_workers_from_env(cls, env_creators):
         if isinstance(env_creators, (tuple, list)):
diff --git a/torchrl/collectors/_single.py b/torchrl/collectors/_single.py
index 9170a7e9f92..50882ac5ffc 100644
--- a/torchrl/collectors/_single.py
+++ b/torchrl/collectors/_single.py
@@ -1891,6 +1891,33 @@ def _maybe_set_truncated(self, final_rollout):
             )
         return final_rollout
 
+    @torch.no_grad()
+    def fake_tensordict(self) -> TensorDictBase:
+        """Return a zero-filled tensordict shaped like one batch from this collector.
+
+        The result mirrors what ``next(iter(collector))`` would yield:
+
+        - batch shape ``(*env.batch_size, frames_per_batch)`` with the last
+          dim named ``"time"``;
+        - env keys (observation / reward / done / terminated / truncated /
+          ``is_init`` when an :class:`~torchrl.envs.InitTracker` is on the
+          env), policy out-keys, and ``("collector", "traj_ids")`` when
+          trajectory tracking is enabled;
+        - ``compact_obs=True`` exclusions applied;
+        - ``set_truncated=True`` last-step ``truncated``/``done`` masking
+          applied;
+        - ``postproc`` / ``split_trajs`` / private-key exclusion applied,
+          mirroring :meth:`_postproc`.
+
+        Intended for storage initialization and ``torch.compile`` /
+        cudagraph warmup without having to step the environment first.
+        """
+        if getattr(self, "_final_rollout", None) is None:
+            self._maybe_make_final_rollout(make_rollout=True)
+        result = self._final_rollout.clone().zero_()
+        result = self._maybe_set_truncated(result)
+        return self._postproc(result)
+
     @torch.no_grad()
     def reset(self, index=None, **kwargs) -> None:
         """Resets the environments to a new initial state."""