diff --git a/cmd/bb_scheduler/main.go b/cmd/bb_scheduler/main.go
index 5901eadf..a992ddbf 100644
--- a/cmd/bb_scheduler/main.go
+++ b/cmd/bb_scheduler/main.go
@@ -141,7 +141,29 @@ func main() {
 			actionRouter,
 			executeAuthorizer,
 			modifyDrainsAuthorizer,
-			killOperationsAuthorizer)
+			killOperationsAuthorizer,
+		)
+
+		// Force periodic cleanups of stale workers. This also
+		// happens automatically when RPCs occur, but that's not
+		// sufficient to ensure Prometheus metrics are updated
+		// if the final workers disappear.
+		//
+		// TODO: Maybe it's better to let InMemoryBuildQueue
+		// implement prometheus.Collector? Then cleanups can run
+		// whenever the scheduler is scraped.
+		dependenciesGroup.Go(func(ctx context.Context, siblingsGroup, dependenciesGroup program.Group) error {
+			t := time.NewTicker(time.Minute)
+			for {
+				select {
+				case <-t.C:
+					buildQueue.ForceCleanup()
+				case <-ctx.Done():
+					t.Stop()
+					return nil
+				}
+			}
+		})
 
 		// Create predeclared platform queues.
 		for _, platformQueue := range configuration.PredeclaredPlatformQueues {
diff --git a/pkg/scheduler/in_memory_build_queue.go b/pkg/scheduler/in_memory_build_queue.go
index 8a11b57c..9ba87196 100644
--- a/pkg/scheduler/in_memory_build_queue.go
+++ b/pkg/scheduler/in_memory_build_queue.go
@@ -1258,6 +1258,15 @@ func (bq *InMemoryBuildQueue) leave() {
 	bq.lock.Unlock()
 }
 
+// ForceCleanup forcefully runs any pending cleanup tasks. This method
+// can be invoked periodically to ensure that workers are removed, even
+// if no other RPC traffic occurs. This ensures that Prometheus metrics
+// report the correct values.
+func (bq *InMemoryBuildQueue) ForceCleanup() {
+	bq.enter(bq.clock.Now())
+	bq.leave()
+}
+
 // getIdleSynchronizeResponse returns a synchronization response that
 // explicitly instructs a worker to return to the idle state.
 func (bq *InMemoryBuildQueue) getIdleSynchronizeResponse() *remoteworker.SynchronizeResponse {