diff --git a/requirements.txt b/requirements.txt
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+absl-py==2.1.0 ; python_version >= "3.10" and python_version < "4.0"
+antlr4-python3-runtime==4.9.3 ; python_version >= "3.10" and python_version < "4.0"
+appdirs==1.4.4 ; python_version >= "3.10" and python_version < "4.0"
+asciitree==0.3.3 ; python_version >= "3.10" and python_version < "4.0"
+av==12.0.0 ; python_version >= "3.10" and python_version < "4.0"
+beautifulsoup4==4.12.3 ; python_version >= "3.10" and python_version < "4.0"
+certifi==2024.2.2 ; python_version >= "3.10" and python_version < "4.0"
+cffi==1.16.0 ; python_version >= "3.10" and python_version < "4.0"
+charset-normalizer==3.3.2 ; python_version >= "3.10" and python_version < "4.0"
+click==8.1.7 ; python_version >= "3.10" and python_version < "4.0"
+cloudpickle==3.0.0 ; python_version >= "3.10" and python_version < "4.0"
+cmake==3.29.0.1 ; python_version >= "3.10" and python_version < "4.0"
+colorama==0.4.6 ; python_version >= "3.10" and python_version < "4.0" and platform_system == "Windows"
+decorator==4.4.2 ; python_version >= "3.10" and python_version < "4.0"
+diffusers==0.26.3 ; python_version >= "3.10" and python_version < "4.0"
+dm-control==1.0.14 ; python_version >= "3.10" and python_version < "4.0"
+dm-env==1.6 ; python_version >= "3.10" and python_version < "4.0"
+dm-tree==0.1.8 ; python_version >= "3.10" and python_version < "4.0"
+docker-pycreds==0.4.0 ; python_version >= "3.10" and python_version < "4.0"
+egl-probe==1.0.2 ; python_version >= "3.10" and python_version < "4.0"
+einops==0.7.0 ; python_version >= "3.10" and python_version < "4.0"
+farama-notifications==0.0.4 ; python_version >= "3.10" and python_version < "4.0"
+fasteners==0.19 ; python_version >= "3.10" and python_version < "4.0" and sys_platform != "emscripten"
+filelock==3.13.1 ; python_version >= "3.10" and python_version < "4.0"
+fsspec==2024.3.1 ; python_version >= "3.10" and python_version < "4.0"
+gdown==5.1.0 ; python_version >= "3.10" and python_version < "4.0"
+gitdb==4.0.11 ; python_version >= "3.10" and python_version < "4.0"
+gitpython==3.1.42 ; python_version >= "3.10" and python_version < "4.0"
+glfw==2.7.0 ; python_version >= "3.10" and python_version < "4.0"
+grpcio==1.62.1 ; python_version >= "3.10" and python_version < "4.0"
+gymnasium-robotics==1.2.4 ; python_version >= "3.10" and python_version < "4.0"
+gymnasium==0.29.1 ; python_version >= "3.10" and python_version < "4.0"
+h5py==3.10.0 ; python_version >= "3.10" and python_version < "4.0"
+hf-transfer==0.1.6 ; python_version >= "3.10" and python_version < "4.0"
+huggingface-hub==0.21.4 ; python_version >= "3.10" and python_version < "4.0"
+huggingface-hub[hf-transfer]==0.21.4 ; python_version >= "3.10" and python_version < "4.0"
+hydra-core==1.3.2 ; python_version >= "3.10" and python_version < "4.0"
+idna==3.6 ; python_version >= "3.10" and python_version < "4.0"
+imageio-ffmpeg==0.4.9 ; python_version >= "3.10" and python_version < "4.0"
+imageio==2.34.0 ; python_version >= "3.10" and python_version < "4.0"
+imageio[pyav]==2.34.0 ; python_version >= "3.10" and python_version < "4.0"
+importlib-metadata==7.1.0 ; python_version >= "3.10" and python_version < "4.0"
+jinja2==3.1.3 ; python_version >= "3.10" and python_version < "4.0"
+labmaze==1.0.6 ; python_version >= "3.10" and python_version < "4.0"
+lazy-loader==0.3 ; python_version >= "3.10" and python_version < "4.0"
+llvmlite==0.42.0 ; python_version >= "3.10" and python_version < "4.0"
+lxml==5.1.0 ; python_version >= "3.10" and python_version < "4.0"
+markdown==3.6 ; python_version >= "3.10" and python_version < "4.0"
+markupsafe==2.1.5 ; python_version >= "3.10" and python_version < "4.0"
+moviepy==1.0.3 ; python_version >= "3.10" and python_version < "4.0"
+mpmath==1.3.0 ; python_version >= "3.10" and python_version < "4.0"
+mujoco==2.3.7 ; python_version >= "3.10" and python_version < "4.0"
+networkx==3.2.1 ; python_version >= "3.10" and python_version < "4.0"
+numba==0.59.1 ; python_version >= "3.10" and python_version < "4.0"
+numcodecs==0.12.1 ; python_version >= "3.10" and python_version < "4.0"
+numpy==1.26.4 ; python_version >= "3.10" and python_version < "4.0"
+nvidia-cublas-cu12==12.1.3.1 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
+nvidia-cuda-cupti-cu12==12.1.105 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
+nvidia-cuda-nvrtc-cu12==12.1.105 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
+nvidia-cuda-runtime-cu12==12.1.105 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
+nvidia-cudnn-cu12==8.9.2.26 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
+nvidia-cufft-cu12==11.0.2.54 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
+nvidia-curand-cu12==10.3.2.106 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
+nvidia-cusolver-cu12==11.4.5.107 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
+nvidia-cusparse-cu12==12.1.0.106 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
+nvidia-nccl-cu12==2.19.3 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
+nvidia-nvjitlink-cu12==12.4.99 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
+nvidia-nvtx-cu12==12.1.105 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version >= "3.10" and python_version < "4.0"
+omegaconf==2.3.0 ; python_version >= "3.10" and python_version < "4.0"
+opencv-python==4.9.0.80 ; python_version >= "3.10" and python_version < "4.0"
+packaging==24.0 ; python_version >= "3.10" and python_version < "4.0"
+pandas==2.2.1 ; python_version >= "3.10" and python_version < "4.0"
+pettingzoo==1.24.3 ; python_version >= "3.10" and python_version < "4.0"
+pillow==10.2.0 ; python_version >= "3.10" and python_version < "4.0"
+proglog==0.1.10 ; python_version >= "3.10" and python_version < "4.0"
+protobuf==4.25.3 ; python_version >= "3.10" and python_version < "4.0"
+psutil==5.9.8 ; python_version >= "3.10" and python_version < "4.0"
+pycparser==2.21 ; python_version >= "3.10" and python_version < "4.0"
+pygame==2.5.2 ; python_version >= "3.10" and python_version < "4.0"
+pymunk==6.6.0 ; python_version >= "3.10" and python_version < "4.0"
+pyopengl==3.1.7 ; python_version >= "3.10" and python_version < "4.0"
+pyparsing==3.1.2 ; python_version >= "3.10" and python_version < "4.0"
+pysocks==1.7.1 ; python_version >= "3.10" and python_version < "4.0"
+python-dateutil==2.9.0.post0 ; python_version >= "3.10" and python_version < "4.0"
+pytz==2024.1 ; python_version >= "3.10" and python_version < "4.0"
+pyyaml==6.0.1 ; python_version >= "3.10" and python_version < "4.0"
+regex==2023.12.25 ; python_version >= "3.10" and python_version < "4.0"
+requests==2.31.0 ; python_version >= "3.10" and python_version < "4.0"
+requests[socks]==2.31.0 ; python_version >= "3.10" and python_version < "4.0"
+robomimic==0.2.0 ; python_version >= "3.10" and python_version < "4.0"
+safetensors==0.4.2 ; python_version >= "3.10" and python_version < "4.0"
+scikit-image==0.22.0 ; python_version >= "3.10" and python_version < "4.0"
+scipy==1.12.0 ; python_version >= "3.10" and python_version < "4.0"
+sentry-sdk==1.43.0 ; python_version >= "3.10" and python_version < "4.0"
+setproctitle==1.3.3 ; python_version >= "3.10" and python_version < "4.0"
+setuptools==69.2.0 ; python_version >= "3.10" and python_version < "4.0"
+shapely==2.0.3 ; python_version >= "3.10" and python_version < "4.0"
+six==1.16.0 ; python_version >= "3.10" and python_version < "4.0"
+smmap==5.0.1 ; python_version >= "3.10" and python_version < "4.0"
+soupsieve==2.5 ; python_version >= "3.10" and python_version < "4.0"
+sympy==1.12 ; python_version >= "3.10" and python_version < "4.0"
+tensorboard-data-server==0.7.2 ; python_version >= "3.10" and python_version < "4.0"
+tensorboard==2.16.2 ; python_version >= "3.10" and python_version < "4.0"
+tensorboardx==2.6.2.2 ; python_version >= "3.10" and python_version < "4.0"
+tensordict @ git+https://github.com/pytorch/tensordict@b4c91e8828c538ca0a50d8383fd99311a9afb078 ; python_version >= "3.10" and python_version < "4.0"
+termcolor==2.4.0 ; python_version >= "3.10" and python_version < "4.0"
+tifffile==2024.2.12 ; python_version >= "3.10" and python_version < "4.0"
+torch==2.2.1 ; python_version >= "3.10" and python_version < "4.0"
+torchrl @ git+https://github.com/pytorch/rl@13bef426dcfa5887c6e5034a6e9697993fa92c37 ; python_version >= "3.10" and python_version < "4.0"
+torchvision==0.17.1 ; python_version >= "3.10" and python_version < "4.0"
+tqdm==4.66.2 ; python_version >= "3.10" and python_version < "4.0"
+triton==2.2.0 ; platform_system == "Linux" and platform_machine == "x86_64" and python_version < "3.12" and python_version >= "3.10"
+typing-extensions==4.10.0 ; python_version >= "3.10" and python_version < "4.0"
+tzdata==2024.1 ; python_version >= "3.10" and python_version < "4.0"
+urllib3==2.2.1 ; python_version >= "3.10" and python_version < "4.0"
+wandb==0.16.4 ; python_version >= "3.10" and python_version < "4.0"
+werkzeug==3.0.1 ; python_version >= "3.10" and python_version < "4.0"
+zarr==2.17.1 ; python_version >= "3.10" and python_version < "4.0"
+zipp==3.18.1 ; python_version >= "3.10" and python_version < "4.0"