diff --git a/poetry.lock b/poetry.lock
index 26192e53..89676fab 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -131,17 +131,6 @@ files = [
     {file = "antlr4-python3-runtime-4.9.3.tar.gz", hash = "sha256:f224469b4168294902bb1efa80a8bf7855f24c99aef99cbefc1bcd3cce77881b"},
 ]
 
-[[package]]
-name = "appdirs"
-version = "1.4.4"
-description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
-optional = false
-python-versions = "*"
-files = [
-    {file = "appdirs-1.4.4-py2.py3-none-any.whl", hash = "sha256:a841dacd6b99318a741b166adb07e19ee71a274450e68237b4650ca1055ab128"},
-    {file = "appdirs-1.4.4.tar.gz", hash = "sha256:7d5d0167b2b1ba821647616af46a749d1c653740dd0d2415100fe26e27afdf41"},
-]
-
 [[package]]
 name = "asciitree"
 version = "0.3.3"
@@ -1108,67 +1097,67 @@ protobuf = ["grpcio-tools (>=1.63.0)"]
 
 [[package]]
 name = "gym-aloha"
-version = "0.1.0"
+version = "0.1.1"
 description = "A gym environment for ALOHA"
 optional = true
 python-versions = "<4.0,>=3.10"
 files = [
-    {file = "gym_aloha-0.1.0-py3-none-any.whl", hash = "sha256:62e36eeb09284422cbb7baca0292c6f65e38ec8774bf9b0bf7159ad5990cf29a"},
-    {file = "gym_aloha-0.1.0.tar.gz", hash = "sha256:bab332f469ba5ffe655fc3e9647aead05d2cb3b950dfb1f299b9539b3857ad7e"},
+    {file = "gym_aloha-0.1.1-py3-none-any.whl", hash = "sha256:2698037246dbb106828f0bc229b61007b0a21d5967c72cc373f7bc1083203584"},
+    {file = "gym_aloha-0.1.1.tar.gz", hash = "sha256:614ae1cf116323e7b5ae2f0e9bd282c4f052aee15e839e5587ddce45995359bc"},
 ]
 
 [package.dependencies]
-dm-control = "1.0.14"
-gymnasium = ">=0.29.1,<0.30.0"
-imageio = {version = ">=2.34.0,<3.0.0", extras = ["ffmpeg"]}
+dm-control = ">=1.0.14"
+gymnasium = ">=0.29.1"
+imageio = {version = ">=2.34.0", extras = ["ffmpeg"]}
 mujoco = ">=2.3.7,<3.0.0"
 
 [package.extras]
-dev = ["debugpy (>=1.8.1,<2.0.0)", "pre-commit (>=3.7.0,<4.0.0)"]
-test = ["pytest (>=8.1.0,<9.0.0)", "pytest-cov (>=5.0.0,<6.0.0)"]
+dev = ["debugpy (>=1.8.1)", "pre-commit (>=3.7.0)"]
+test = ["pytest (>=8.1.0)", "pytest-cov (>=5.0.0)"]
 
 [[package]]
 name = "gym-pusht"
-version = "0.1.1"
+version = "0.1.3"
 description = "A gymnasium environment for PushT."
 optional = true
 python-versions = "<4.0,>=3.10"
 files = [
-    {file = "gym_pusht-0.1.1-py3-none-any.whl", hash = "sha256:dcf8644713db48286e907aabb11e005b0592632e323baa40d1a4f2dfbbc76c3d"},
-    {file = "gym_pusht-0.1.1.tar.gz", hash = "sha256:0d1c9ffd4ad0e2411efcc724003a365a853f20b6d596980c113e7ec181ac021f"},
+    {file = "gym_pusht-0.1.3-py3-none-any.whl", hash = "sha256:feeb02493a03d1aacc45d43d6397962c50ed779ab7e4019d73af11d2f0b3831b"},
+    {file = "gym_pusht-0.1.3.tar.gz", hash = "sha256:c8e9a5256035ba49841ebbc7c32a06c4fa2daa52f5fad80da941b607c4553e28"},
 ]
 
 [package.dependencies]
-gymnasium = ">=0.29.1,<0.30.0"
-opencv-python = ">=4.9.0.80,<5.0.0.0"
-pygame = ">=2.5.2,<3.0.0"
-pymunk = ">=6.6.0,<7.0.0"
+gymnasium = ">=0.29.1"
+opencv-python = ">=4.9.0"
+pygame = ">=2.5.2"
+pymunk = ">=6.6.0"
 scikit-image = ">=0.22.0"
-shapely = ">=2.0.3,<3.0.0"
+shapely = ">=2.0.3"
 
 [package.extras]
-dev = ["debugpy (>=1.8.1,<2.0.0)", "pre-commit (>=3.7.0,<4.0.0)"]
-test = ["pytest (>=8.1.0,<9.0.0)", "pytest-cov (>=5.0.0,<6.0.0)"]
+dev = ["debugpy (>=1.8.1)", "pre-commit (>=3.7.0)"]
+test = ["pytest (>=8.1.0)", "pytest-cov (>=5.0.0)"]
 
 [[package]]
 name = "gym-xarm"
-version = "0.1.0"
+version = "0.1.1"
 description = "A gym environment for xArm"
 optional = true
 python-versions = "<4.0,>=3.10"
 files = [
-    {file = "gym_xarm-0.1.0-py3-none-any.whl", hash = "sha256:d10ac19a59d302201a9b8bd913530211b1058467b787ad91a657907e40cdbc13"},
-    {file = "gym_xarm-0.1.0.tar.gz", hash = "sha256:fc05f9d02af1f0205275311669dc191ce431be484e221a96401eb544764eb986"},
+    {file = "gym_xarm-0.1.1-py3-none-any.whl", hash = "sha256:3bd7e3c1c5521ba80a56536f01a5e11321580704d72160355ce47a828a8808ad"},
+    {file = "gym_xarm-0.1.1.tar.gz", hash = "sha256:e455524561b02d06b92a4f7d524f448d84a7484d9a2dbc78600e3c66240e0fb7"},
 ]
 
 [package.dependencies]
-gymnasium = ">=0.29.1,<0.30.0"
-gymnasium-robotics = ">=1.2.4,<2.0.0"
+gymnasium = ">=0.29.1"
+gymnasium-robotics = ">=1.2.4"
 mujoco = ">=2.3.7,<3.0.0"
 
 [package.extras]
-dev = ["debugpy (>=1.8.1,<2.0.0)", "pre-commit (>=3.7.0,<4.0.0)"]
-test = ["pytest (>=8.1.0,<9.0.0)", "pytest-cov (>=5.0.0,<6.0.0)"]
+dev = ["debugpy (>=1.8.1)", "pre-commit (>=3.7.0)"]
+test = ["pytest (>=8.1.0)", "pytest-cov (>=5.0.0)"]
 
 [[package]]
 name = "gymnasium"
@@ -1258,13 +1247,13 @@ numpy = ">=1.17.3"
 
 [[package]]
 name = "huggingface-hub"
-version = "0.21.4"
+version = "0.23.0"
 description = "Client library to download and publish models, datasets and other repos on the huggingface.co hub"
 optional = false
 python-versions = ">=3.8.0"
 files = [
-    {file = "huggingface_hub-0.21.4-py3-none-any.whl", hash = "sha256:df37c2c37fc6c82163cdd8a67ede261687d80d1e262526d6c0ce73b6b3630a7b"},
-    {file = "huggingface_hub-0.21.4.tar.gz", hash = "sha256:e1f4968c93726565a80edf6dc309763c7b546d0cfe79aa221206034d50155531"},
+    {file = "huggingface_hub-0.23.0-py3-none-any.whl", hash = "sha256:075c30d48ee7db2bba779190dc526d2c11d422aed6f9044c5e2fdc2c432fdb91"},
+    {file = "huggingface_hub-0.23.0.tar.gz", hash = "sha256:7126dedd10a4c6fac796ced4d87a8cf004efc722a5125c2c09299017fa366fa9"},
 ]
 
 [package.dependencies]
@@ -1277,15 +1266,16 @@ tqdm = ">=4.42.1"
 typing-extensions = ">=3.7.4.3"
 
 [package.extras]
-all = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "aiohttp", "gradio", "jedi", "mypy (==1.5.1)", "numpy", "pydantic (>1.1,<2.0)", "pydantic (>1.1,<3.0)", "pytest", "pytest-asyncio", "pytest-cov", "pytest-env", "pytest-rerunfailures", "pytest-vcr", "pytest-xdist", "ruff (>=0.1.3)", "soundfile", "types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3", "typing-extensions (>=4.8.0)", "urllib3 (<2.0)"]
+all = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "aiohttp", "fastapi", "gradio", "jedi", "minijinja (>=1.0)", "mypy (==1.5.1)", "numpy", "pytest", "pytest-asyncio", "pytest-cov", "pytest-env", "pytest-rerunfailures", "pytest-vcr", "pytest-xdist", "ruff (>=0.3.0)", "soundfile", "types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3", "typing-extensions (>=4.8.0)", "urllib3 (<2.0)"]
 cli = ["InquirerPy (==0.3.4)"]
-dev = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "aiohttp", "gradio", "jedi", "mypy (==1.5.1)", "numpy", "pydantic (>1.1,<2.0)", "pydantic (>1.1,<3.0)", "pytest", "pytest-asyncio", "pytest-cov", "pytest-env", "pytest-rerunfailures", "pytest-vcr", "pytest-xdist", "ruff (>=0.1.3)", "soundfile", "types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3", "typing-extensions (>=4.8.0)", "urllib3 (<2.0)"]
+dev = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "aiohttp", "fastapi", "gradio", "jedi", "minijinja (>=1.0)", "mypy (==1.5.1)", "numpy", "pytest", "pytest-asyncio", "pytest-cov", "pytest-env", "pytest-rerunfailures", "pytest-vcr", "pytest-xdist", "ruff (>=0.3.0)", "soundfile", "types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3", "typing-extensions (>=4.8.0)", "urllib3 (<2.0)"]
 fastai = ["fastai (>=2.4)", "fastcore (>=1.3.27)", "toml"]
 hf-transfer = ["hf-transfer (>=0.1.4)"]
-inference = ["aiohttp", "pydantic (>1.1,<2.0)", "pydantic (>1.1,<3.0)"]
-quality = ["mypy (==1.5.1)", "ruff (>=0.1.3)"]
+inference = ["aiohttp", "minijinja (>=1.0)"]
+quality = ["mypy (==1.5.1)", "ruff (>=0.3.0)"]
 tensorflow = ["graphviz", "pydot", "tensorflow"]
-testing = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "aiohttp", "gradio", "jedi", "numpy", "pydantic (>1.1,<2.0)", "pydantic (>1.1,<3.0)", "pytest", "pytest-asyncio", "pytest-cov", "pytest-env", "pytest-rerunfailures", "pytest-vcr", "pytest-xdist", "soundfile", "urllib3 (<2.0)"]
+tensorflow-testing = ["keras (<3.0)", "tensorflow"]
+testing = ["InquirerPy (==0.3.4)", "Jinja2", "Pillow", "aiohttp", "fastapi", "gradio", "jedi", "minijinja (>=1.0)", "numpy", "pytest", "pytest-asyncio", "pytest-cov", "pytest-env", "pytest-rerunfailures", "pytest-vcr", "pytest-xdist", "soundfile", "urllib3 (<2.0)"]
 torch = ["safetensors", "torch"]
 typing = ["types-PyYAML", "types-requests", "types-simplejson", "types-toml", "types-tqdm", "types-urllib3", "typing-extensions (>=4.8.0)"]
 
@@ -2587,7 +2577,7 @@ xmp = ["defusedxml"]
 name = "platformdirs"
 version = "4.2.1"
 description = "A small Python package for determining appropriate platform-specific dirs, e.g. a `user data dir`."
-optional = true
+optional = false
 python-versions = ">=3.8"
 files = [
     {file = "platformdirs-4.2.1-py3-none-any.whl", hash = "sha256:17d5a1161b3fd67b390023cb2d3b026bbd40abde6fdb052dfbd3a29c3ba22ee1"},
@@ -4034,36 +4024,40 @@ test = ["covdefaults (>=2.3)", "coverage (>=7.2.7)", "coverage-enable-subprocess
 
 [[package]]
 name = "wandb"
-version = "0.16.6"
+version = "0.17.0"
 description = "A CLI and library for interacting with the Weights & Biases API."
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "wandb-0.16.6-py3-none-any.whl", hash = "sha256:5810019a3b981c796e98ea58557a7c380f18834e0c6bdaed15df115522e5616e"},
-    {file = "wandb-0.16.6.tar.gz", hash = "sha256:86f491e3012d715e0d7d7421a4d6de41abef643b7403046261f962f3e512fe1c"},
+    {file = "wandb-0.17.0-py3-none-any.whl", hash = "sha256:b1b056b4cad83b00436cb76049fd29ecedc6045999dcaa5eba40db6680960ac2"},
+    {file = "wandb-0.17.0-py3-none-macosx_10_9_x86_64.whl", hash = "sha256:e1e6f04e093a6a027dcb100618ca23b122d032204b2ed4c62e4e991a48041a6b"},
+    {file = "wandb-0.17.0-py3-none-macosx_11_0_arm64.whl", hash = "sha256:feeb60d4ff506d2a6bc67f953b310d70b004faa789479c03ccd1559c6f1a9633"},
+    {file = "wandb-0.17.0-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:b7bed8a3dd404a639e6bf5fea38c6efe2fb98d416ff1db4fb51be741278ed328"},
+    {file = "wandb-0.17.0-py3-none-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:56a1dd6e0e635cba3f6ed30b52c71739bdc2a3e57df155619d2d80ee952b4201"},
+    {file = "wandb-0.17.0-py3-none-win32.whl", hash = "sha256:1f692d3063a0d50474022cfe6668e1828260436d1cd40827d1e136b7f730c74c"},
+    {file = "wandb-0.17.0-py3-none-win_amd64.whl", hash = "sha256:ab582ca0d54d52ef5b991de0717350b835400d9ac2d3adab210022b68338d694"},
 ]
 
 [package.dependencies]
-appdirs = ">=1.4.3"
-Click = ">=7.1,<8.0.0 || >8.0.0"
+click = ">=7.1,<8.0.0 || >8.0.0"
 docker-pycreds = ">=0.4.0"
-GitPython = ">=1.0.0,<3.1.29 || >3.1.29"
+gitpython = ">=1.0.0,<3.1.29 || >3.1.29"
+platformdirs = "*"
 protobuf = {version = ">=3.19.0,<4.21.0 || >4.21.0,<5", markers = "python_version > \"3.9\" or sys_platform != \"linux\""}
 psutil = ">=5.0.0"
-PyYAML = "*"
+pyyaml = "*"
 requests = ">=2.0.0,<3"
 sentry-sdk = ">=1.0.0"
 setproctitle = "*"
 setuptools = "*"
 
 [package.extras]
-async = ["httpx (>=0.23.0)"]
 aws = ["boto3"]
 azure = ["azure-identity", "azure-storage-blob"]
 gcp = ["google-cloud-storage"]
 importers = ["filelock", "mlflow", "polars", "rich", "tenacity"]
 kubeflow = ["google-cloud-storage", "kubernetes", "minio", "sh"]
-launch = ["PyYAML (>=6.0.0)", "awscli", "azure-containerregistry", "azure-identity", "azure-storage-blob", "boto3", "botocore", "chardet", "google-auth", "google-cloud-aiplatform", "google-cloud-artifact-registry", "google-cloud-compute", "google-cloud-storage", "iso8601", "kubernetes", "kubernetes-asyncio", "nbconvert", "nbformat", "optuna", "pydantic", "tomli", "typing-extensions"]
+launch = ["awscli", "azure-containerregistry", "azure-identity", "azure-storage-blob", "boto3", "botocore", "chardet", "google-auth", "google-cloud-aiplatform", "google-cloud-artifact-registry", "google-cloud-compute", "google-cloud-storage", "iso8601", "kubernetes", "kubernetes-asyncio", "nbconvert", "nbformat", "optuna", "pydantic", "pyyaml (>=6.0.0)", "tomli", "typing-extensions"]
 media = ["bokeh", "moviepy", "numpy", "pillow", "plotly (>=5.18.0)", "rdkit-pypi", "soundfile"]
 models = ["cloudpickle"]
 perf = ["orjson"]
@@ -4309,13 +4303,13 @@ multidict = ">=4.0"
 
 [[package]]
 name = "zarr"
-version = "2.17.2"
+version = "2.18.0"
 description = "An implementation of chunked, compressed, N-dimensional arrays for Python"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "zarr-2.17.2-py3-none-any.whl", hash = "sha256:70d7cc07c24280c380ef80644151d136b7503b0d83c9f214e8000ddc0f57f69b"},
-    {file = "zarr-2.17.2.tar.gz", hash = "sha256:2cbaa6cb4e342d45152d4a7a4b2013c337fcd3a8e7bc98253560180de60552ce"},
+    {file = "zarr-2.18.0-py3-none-any.whl", hash = "sha256:7f8532b6a3f50f22e809e130e09353637ec8b5bb5e95a5a0bfaae91f63978b5d"},
+    {file = "zarr-2.18.0.tar.gz", hash = "sha256:c3b7d2c85b8a42b0ad0ad268a36fb6886ca852098358c125c6b126a417e0a598"},
 ]
 
 [package.dependencies]
@@ -4354,4 +4348,4 @@ xarm = ["gym-xarm"]
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.10,<3.13"
-content-hash = "008a6af5ad9d9eafbd933c922c2c5d84fddae85aff8a9eefc0538b1319966f6e"
+content-hash = "21dd1d7404ac774bd1139e8cda44ea8e3ed97c30e524f2ed862de431d3d5fa87"
diff --git a/pyproject.toml b/pyproject.toml
index 94ed5d03..56c84416 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -28,37 +28,37 @@ packages = [{include = "lerobot"}]
 
 [tool.poetry.dependencies]
 python = ">=3.10,<3.13"
-termcolor = "^2.4.0"
-omegaconf = "^2.3.0"
-wandb = "^0.16.3"
-imageio = {extras = ["ffmpeg"], version = "^2.34.0"}
-gdown = "^5.1.0"
-hydra-core = "^1.3.2"
-einops = "^0.8.0"
-pymunk = "^6.6.0"
-zarr = "^2.17.0"
-numba = "^0.59.0"
+termcolor = ">=2.4.0"
+omegaconf = ">=2.3.0"
+wandb = ">=0.16.3"
+imageio = {extras = ["ffmpeg"], version = ">=2.34.0"}
+gdown = ">=5.1.0"
+hydra-core = ">=1.3.2"
+einops = ">=0.8.0"
+pymunk = ">=6.6.0"
+zarr = ">=2.17.0"
+numba = ">=0.59.0"
 torch = "^2.2.1"
-opencv-python = "^4.9.0.80"
+opencv-python = ">=4.9.0"
 diffusers = "^0.27.2"
-torchvision = "^0.18.0"
-h5py = "^3.10.0"
-huggingface-hub = "^0.21.4"
+torchvision = ">=0.18.0"
+h5py = ">=3.10.0"
+huggingface-hub = ">=0.21.4"
 robomimic = "0.2.0"
-gymnasium = "^0.29.1"
-cmake = "^3.29.0.1"
-gym-pusht = { version = "^0.1.1", optional = true}
-gym-xarm = { version = "^0.1.0", optional = true}
-gym-aloha = { version = "^0.1.0", optional = true}
-pre-commit = {version = "^3.7.0", optional = true}
-debugpy = {version = "^1.8.1", optional = true}
-pytest = {version = "^8.1.0", optional = true}
-pytest-cov = {version = "^5.0.0", optional = true}
-datasets = "^2.19.0"
-imagecodecs = { version = "^2024.1.1", optional = true }
-pyav = "^12.0.5"
-moviepy = "^1.0.3"
-rerun-sdk = "^0.15.1"
+gymnasium = ">=0.29.1"
+cmake = ">=3.29.0.1"
+gym-pusht = { version = ">=0.1.3", optional = true}
+gym-xarm = { version = ">=0.1.1", optional = true}
+gym-aloha = { version = ">=0.1.1", optional = true}
+pre-commit = {version = ">=3.7.0", optional = true}
+debugpy = {version = ">=1.8.1", optional = true}
+pytest = {version = ">=8.1.0", optional = true}
+pytest-cov = {version = ">=5.0.0", optional = true}
+datasets = ">=2.19.0"
+imagecodecs = { version = ">=2024.1.1", optional = true }
+pyav = ">=12.0.5"
+moviepy = ">=1.0.3"
+rerun-sdk = ">=0.15.1"
 
 
 [tool.poetry.extras]
@@ -104,5 +104,5 @@ ignore-init-module-imports = true
 
 
 [build-system]
-requires = ["poetry-core>=1.5.0"]
+requires = ["poetry-core"]
 build-backend = "poetry.core.masonry.api"