diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
index 0143efd86..a67b8bbcd 100644
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -6,8 +6,8 @@ Languages: English | [简体中文](docs/zh_CN/CONTRIBUTING.md) | [日本語](do
 
 1. Fork and clone the repository.
 2. Install dependencies for your platform:
-   - macOS (MPS): `uv sync`
-   - Linux (CUDA 11.8 / 12.4 / 12.6 / 12.8): `uv sync --extra cu124`
+   - macOS (MPS, installs PyPI torch wheels): `uv sync`
+   - Linux default (installs PyTorch cu128 wheels; requires an NVIDIA GPU/driver supported by current PyTorch cu128 wheels): `uv sync`
    - When you need Motrix, append `--extra motrix`
 3. Create a branch such as `git checkout -b docs/improve-readme` or `git checkout -b fix/backend-bug`.
 
diff --git a/Makefile b/Makefile
index a375d7e4c..5029b7c87 100644
--- a/Makefile
+++ b/Makefile
@@ -17,15 +17,15 @@ check: format type
 
 .PHONY: test
 test:
-	uv run pytest -m "not slow"
+	uv run pytest -m "not slow and not veryslow"
 
 .PHONY: test-cov
 test-cov:
-	uv run pytest -m "not slow" --cov=unilab --cov-report=term-missing
+	uv run pytest -m "not slow and not veryslow" --cov=unilab --cov-report=term-missing
 
 .PHONY: test-fast
 test-fast:
-	uv run pytest -m "not slow"
+	uv run pytest -m "not slow and not veryslow"
 
 .PHONY: test-slow
 test-slow:
diff --git a/README.md b/README.md
index 810266f3b..a4daa16b1 100644
--- a/README.md
+++ b/README.md
@@ -29,11 +29,12 @@ git clone https://github.com/unilabsim/UniLab.git
 cd UniLab
 
 # 2. Install dependencies
-# macOS (MPS)
+# macOS (MPS, installs PyPI torch wheels)
 uv sync
 
-# Linux (choose one CUDA extra such as cu124)
-uv sync --extra cu124
+# Linux (default: installs PyTorch cu128 wheels)
+# Requires an NVIDIA GPU and driver stack supported by current PyTorch cu128 wheels
+uv sync
 
 # Optional: Motrix backend
 uv sync --extra motrix
diff --git a/docs/en/01-getting-started.md b/docs/en/01-getting-started.md
index bab2c632f..85b551cde 100644
--- a/docs/en/01-getting-started.md
+++ b/docs/en/01-getting-started.md
@@ -28,18 +28,15 @@ brew install cmake  # macOS
 ### Sync Dependencies
 
 ```bash
-# macOS (MPS)
+# macOS (MPS, installs PyPI torch wheels)
 uv sync
 
-# Linux (CUDA 11.8 / 12.4 / 12.6 / 12.8)
-uv sync --extra cu118
-uv sync --extra cu124
-uv sync --extra cu126
-uv sync --extra cu128
+# Linux default (installs PyTorch cu128 wheels)
+# Requires an NVIDIA GPU and driver stack supported by current PyTorch cu128 wheels
+uv sync
 
 # Optional: Motrix backend
 uv sync --extra motrix
-uv sync --extra cu124 --extra motrix
 ```
 
 ## Mainland China Mirror
diff --git a/docs/ja/01-getting-started.md b/docs/ja/01-getting-started.md
index 0b50f19cc..1d0d403d3 100644
--- a/docs/ja/01-getting-started.md
+++ b/docs/ja/01-getting-started.md
@@ -28,18 +28,15 @@ brew install cmake  # macOS
 ### 依存関係を同期
 
 ```bash
-# macOS (MPS)
+# macOS (MPS, PyPI の torch wheel をデフォルトで導入)
 uv sync
 
-# Linux (CUDA 11.8 / 12.4 / 12.6 / 12.8)
-uv sync --extra cu118
-uv sync --extra cu124
-uv sync --extra cu126
-uv sync --extra cu128
+# Linux デフォルト (PyTorch の cu128 wheel を導入)
+# 現行の PyTorch cu128 wheel がサポートする NVIDIA GPU / driver stack が必要
+uv sync
 
 # オプション: Motrix backend
 uv sync --extra motrix
-uv sync --extra cu124 --extra motrix
 ```
 
 ## 中国本土向けミラー
diff --git a/docs/ja/CONTRIBUTING.md b/docs/ja/CONTRIBUTING.md
index a4ab54b29..95dc9f6b5 100644
--- a/docs/ja/CONTRIBUTING.md
+++ b/docs/ja/CONTRIBUTING.md
@@ -6,8 +6,8 @@
 
 1. リポジトリを fork して clone します。
 2. 利用するプラットフォームに応じて依存関係を入れます:
-   - macOS (MPS): `uv sync`
-   - Linux (CUDA 11.8 / 12.4 / 12.6 / 12.8): `uv sync --extra cu124`
+   - macOS (MPS, PyPI の torch wheel を導入): `uv sync`
+   - Linux デフォルト (PyTorch の cu128 wheel を導入。現行の PyTorch cu128 wheel がサポートする NVIDIA GPU / driver stack が必要): `uv sync`
    - Motrix が必要な場合は `--extra motrix` を追加します
 3. `git checkout -b docs/improve-readme` や `git checkout -b fix/backend-bug` のように branch を切ります。
 
diff --git a/docs/ja/README.md b/docs/ja/README.md
index 658da5db7..49530e61a 100644
--- a/docs/ja/README.md
+++ b/docs/ja/README.md
@@ -29,11 +29,12 @@ git clone https://github.com/unilabsim/UniLab.git
 cd UniLab
 
 # 2. 依存関係をインストール
-# macOS (MPS)
+# macOS (MPS, PyPI の torch wheel をデフォルトで導入)
 uv sync
 
-# Linux (CUDA extra を 1 つ選択。例: cu124)
-uv sync --extra cu124
+# Linux (デフォルト: PyTorch の cu128 wheel を導入)
+# 現行の PyTorch cu128 wheel がサポートする NVIDIA GPU / driver stack が必要
+uv sync
 
 # オプション: Motrix バックエンド
 uv sync --extra motrix
diff --git a/docs/ko/01-getting-started.md b/docs/ko/01-getting-started.md
index 1646add6a..d4fd6bf84 100644
--- a/docs/ko/01-getting-started.md
+++ b/docs/ko/01-getting-started.md
@@ -28,18 +28,15 @@ brew install cmake  # macOS
 ### 의존성 동기화
 
 ```bash
-# macOS (MPS)
+# macOS (MPS, PyPI torch wheel 기본 설치)
 uv sync
 
-# Linux (CUDA 11.8 / 12.4 / 12.6 / 12.8)
-uv sync --extra cu118
-uv sync --extra cu124
-uv sync --extra cu126
-uv sync --extra cu128
+# Linux 기본값 (PyTorch cu128 wheel 설치)
+# 현재 PyTorch cu128 wheel 이 지원하는 NVIDIA GPU 및 드라이버 스택이 필요함
+uv sync
 
 # 선택 사항: Motrix 백엔드
 uv sync --extra motrix
-uv sync --extra cu124 --extra motrix
 ```
 
 ## 중국 본토 미러
diff --git a/docs/ko/CONTRIBUTING.md b/docs/ko/CONTRIBUTING.md
index 1d3a908b4..ae3bb6916 100644
--- a/docs/ko/CONTRIBUTING.md
+++ b/docs/ko/CONTRIBUTING.md
@@ -6,8 +6,8 @@
 
 1. 저장소를 fork한 뒤 clone합니다.
 2. 사용하는 플랫폼에 맞게 의존성을 설치합니다:
-   - macOS (MPS): `uv sync`
-   - Linux (CUDA 11.8 / 12.4 / 12.6 / 12.8): `uv sync --extra cu124`
+   - macOS (MPS, PyPI torch wheel 설치): `uv sync`
+   - Linux 기본값 (PyTorch cu128 wheel 설치. 현재 PyTorch cu128 wheel 이 지원하는 NVIDIA GPU/드라이버가 필요): `uv sync`
    - Motrix가 필요하면 `--extra motrix`를 추가합니다
 3. `git checkout -b docs/improve-readme` 또는 `git checkout -b fix/backend-bug` 같은 branch를 만듭니다.
 
diff --git a/docs/ko/README.md b/docs/ko/README.md
index 1157d362d..4809d65a6 100644
--- a/docs/ko/README.md
+++ b/docs/ko/README.md
@@ -29,11 +29,12 @@ git clone https://github.com/unilabsim/UniLab.git
 cd UniLab
 
 # 2. 의존성 설치
-# macOS (MPS)
+# macOS (MPS, PyPI torch wheel 기본 설치)
 uv sync
 
-# Linux (예: cu124 같은 CUDA extra 하나 선택)
-uv sync --extra cu124
+# Linux (기본값: PyTorch cu128 wheel 설치)
+# 현재 PyTorch cu128 wheel 이 지원하는 NVIDIA GPU 및 드라이버 스택이 필요함
+uv sync
 
 # 선택 사항: Motrix 백엔드
 uv sync --extra motrix
diff --git a/docs/zh_CN/01-getting-started.md b/docs/zh_CN/01-getting-started.md
index 726fb42dd..4faa998b8 100644
--- a/docs/zh_CN/01-getting-started.md
+++ b/docs/zh_CN/01-getting-started.md
@@ -28,18 +28,15 @@ brew install cmake  # macOS
 ### 同步依赖
 
 ```bash
-# macOS (MPS)
+# macOS（MPS，默认安装 PyPI 的 torch wheel）
 uv sync
 
-# Linux (CUDA 11.8 / 12.4 / 12.6 / 12.8)
-uv sync --extra cu118
-uv sync --extra cu124
-uv sync --extra cu126
-uv sync --extra cu128
+# Linux 默认（安装 PyTorch 官方 cu128 wheel）
+# 需要当前 PyTorch cu128 wheel 所支持的 NVIDIA 显卡与驱动栈
+uv sync
 
 # 可选: Motrix 后端
 uv sync --extra motrix
-uv sync --extra cu124 --extra motrix
 ```
 
 ## 中国大陆镜像
diff --git a/docs/zh_CN/CONTRIBUTING.md b/docs/zh_CN/CONTRIBUTING.md
index 1642135db..c9461d5dc 100644
--- a/docs/zh_CN/CONTRIBUTING.md
+++ b/docs/zh_CN/CONTRIBUTING.md
@@ -6,8 +6,8 @@
 
 1. Fork 并克隆仓库。
 2. 按平台安装依赖:
-   - macOS (MPS): `uv sync`
-   - Linux (CUDA 11.8 / 12.4 / 12.6 / 12.8): `uv sync --extra cu124`
+   - macOS（MPS，安装 PyPI 的 torch wheel）: `uv sync`
+   - Linux 默认（安装 PyTorch 官方 cu128 wheel；需要当前 PyTorch cu128 wheel 所支持的 NVIDIA 显卡与驱动栈）: `uv sync`
    - 需要 Motrix 时，在命令后追加 `--extra motrix`
 3. 创建分支，例如 `git checkout -b docs/improve-readme` 或 `git checkout -b fix/backend-bug`。
 
diff --git a/docs/zh_CN/README.md b/docs/zh_CN/README.md
index b93319021..9c75ac1fd 100644
--- a/docs/zh_CN/README.md
+++ b/docs/zh_CN/README.md
@@ -29,11 +29,12 @@ git clone https://github.com/unilabsim/UniLab.git
 cd UniLab
 
 # 2. 安装依赖
-# macOS (MPS)
+# macOS（MPS，默认安装 PyPI 的 torch wheel）
 uv sync
 
-# Linux (任选一个 CUDA extra，例如 cu124)
-uv sync --extra cu124
+# Linux 默认（安装 PyTorch 官方 cu128 wheel）
+# 需要当前 PyTorch cu128 wheel 所支持的 NVIDIA 显卡与驱动栈
+uv sync
 
 # 可选: Motrix 后端
 uv sync --extra motrix
diff --git a/pyproject.toml b/pyproject.toml
index 9accc1efb..2fdb3a178 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,5 +1,5 @@
 [build-system]
-requires = ["uv_build"]
+requires = ["uv_build>=0.11.3,<0.12"]
 build-backend = "uv_build"
 
 [project]
@@ -11,6 +11,7 @@ requires-python = ">=3.10,<3.14"
 dependencies = [
     "numpy",
     "torch==2.7.0",
+    "torchvision",
     "mujoco-uni==3.6.0.post2",
     "gymnasium",
     "imageio",
@@ -32,10 +33,6 @@ dependencies = [
 ]
 
 [project.optional-dependencies]
-cu118 = []
-cu124 = []
-cu126 = []
-cu128 = []
 motrix = ["motrixsim==0.7.0"]
 
 [dependency-groups]
@@ -46,21 +43,6 @@ name = "test-pypi"
 url = "https://test.pypi.org/simple/"
 explicit = true
 
-[[tool.uv.index]]
-name = "pytorch-cu118"
-url = "https://download.pytorch.org/whl/cu118"
-explicit = true
-
-[[tool.uv.index]]
-name = "pytorch-cu124"
-url = "https://download.pytorch.org/whl/cu124"
-explicit = true
-
-[[tool.uv.index]]
-name = "pytorch-cu126"
-url = "https://download.pytorch.org/whl/cu126"
-explicit = true
-
 [[tool.uv.index]]
 name = "pytorch-cu128"
 url = "https://download.pytorch.org/whl/cu128"
@@ -68,6 +50,12 @@ explicit = true
 
 [tool.uv.sources]
 mujoco-uni = { index = "test-pypi" }
+torch = [
+    { index = "pytorch-cu128", marker = "sys_platform=='linux'" },
+]
+torchvision = [
+    { index = "pytorch-cu128", marker = "sys_platform=='linux'" },
+]
 
 [tool.uv]
 required-environments = [
diff --git a/tests/conftest.py b/tests/conftest.py
index e805fc1da..2802d95b2 100644
--- a/tests/conftest.py
+++ b/tests/conftest.py
@@ -170,8 +170,6 @@ def default_go2_reward_config():
         },
         "tracking_sigma": 0.25,
         "base_height_target": 0.3,
-        "target_foot_height": 0.08,
-        "foot_clearance_sigma": 0.02,
     }
 
 
diff --git a/uv.lock b/uv.lock
index 2d97c6b7f..c0b143a0c 100644
--- a/uv.lock
+++ b/uv.lock
@@ -2,10 +2,13 @@ version = 1
 revision = 3
 requires-python = ">=3.10, <3.14"
 resolution-markers = [
-    "python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version >= '3.13' and platform_machine != 'aarch64' and platform_machine != 's390x' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version >= '3.13' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux')",
+    "python_full_version >= '3.13' and platform_machine == 'x86_64' and sys_platform == 'linux'",
+    "python_full_version >= '3.13' and platform_machine == 'aarch64' and platform_python_implementation == 'CPython' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform == 'darwin'",
     "python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
-    "python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version == '3.12.*' and platform_machine != 'aarch64' and platform_machine != 's390x' and sys_platform == 'linux') or (python_full_version == '3.12.*' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux')",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and platform_python_implementation == 'CPython' and sys_platform == 'linux'",
     "python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform == 'darwin'",
     "python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
     "python_full_version >= '3.13' and platform_machine == 's390x' and sys_platform == 'linux'",
@@ -14,13 +17,15 @@ resolution-markers = [
     "python_full_version == '3.12.*' and platform_machine == 's390x' and sys_platform == 'linux'",
     "python_full_version == '3.12.*' and platform_machine == 's390x' and sys_platform == 'darwin'",
     "python_full_version == '3.12.*' and platform_machine == 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
-    "python_full_version == '3.11.*' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and platform_machine != 's390x' and sys_platform == 'linux') or (python_full_version == '3.11.*' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux')",
+    "python_full_version == '3.11.*' and platform_machine == 'aarch64' and platform_python_implementation == 'CPython' and sys_platform == 'linux'",
     "python_full_version == '3.11.*' and platform_machine != 's390x' and sys_platform == 'darwin'",
     "python_full_version == '3.11.*' and platform_machine != 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
     "python_full_version == '3.11.*' and platform_machine == 's390x' and sys_platform == 'linux'",
     "python_full_version == '3.11.*' and platform_machine == 's390x' and sys_platform == 'darwin'",
     "python_full_version == '3.11.*' and platform_machine == 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
-    "python_full_version < '3.11' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version < '3.11' and platform_machine != 'aarch64' and platform_machine != 's390x' and sys_platform == 'linux') or (python_full_version < '3.11' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux')",
+    "python_full_version < '3.11' and platform_machine == 'aarch64' and platform_python_implementation == 'CPython' and sys_platform == 'linux'",
     "python_full_version < '3.11' and platform_machine != 's390x' and sys_platform == 'darwin'",
     "python_full_version < '3.11' and platform_machine != 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
     "python_full_version < '3.11' and platform_machine == 's390x' and sys_platform == 'linux'",
@@ -385,7 +390,8 @@ name = "contourpy"
 version = "1.3.2"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
-    "python_full_version < '3.11' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version < '3.11' and platform_machine != 'aarch64' and platform_machine != 's390x' and sys_platform == 'linux') or (python_full_version < '3.11' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux')",
+    "python_full_version < '3.11' and platform_machine == 'aarch64' and platform_python_implementation == 'CPython' and sys_platform == 'linux'",
     "python_full_version < '3.11' and platform_machine != 's390x' and sys_platform == 'darwin'",
     "python_full_version < '3.11' and platform_machine != 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
     "python_full_version < '3.11' and platform_machine == 's390x' and sys_platform == 'linux'",
@@ -460,10 +466,13 @@ name = "contourpy"
 version = "1.3.3"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
-    "python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version >= '3.13' and platform_machine != 'aarch64' and platform_machine != 's390x' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version >= '3.13' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux')",
+    "python_full_version >= '3.13' and platform_machine == 'x86_64' and sys_platform == 'linux'",
+    "python_full_version >= '3.13' and platform_machine == 'aarch64' and platform_python_implementation == 'CPython' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform == 'darwin'",
     "python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
-    "python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version == '3.12.*' and platform_machine != 'aarch64' and platform_machine != 's390x' and sys_platform == 'linux') or (python_full_version == '3.12.*' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux')",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and platform_python_implementation == 'CPython' and sys_platform == 'linux'",
     "python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform == 'darwin'",
     "python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
     "python_full_version >= '3.13' and platform_machine == 's390x' and sys_platform == 'linux'",
@@ -472,7 +481,8 @@ resolution-markers = [
     "python_full_version == '3.12.*' and platform_machine == 's390x' and sys_platform == 'linux'",
     "python_full_version == '3.12.*' and platform_machine == 's390x' and sys_platform == 'darwin'",
     "python_full_version == '3.12.*' and platform_machine == 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
-    "python_full_version == '3.11.*' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and platform_machine != 's390x' and sys_platform == 'linux') or (python_full_version == '3.11.*' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux')",
+    "python_full_version == '3.11.*' and platform_machine == 'aarch64' and platform_python_implementation == 'CPython' and sys_platform == 'linux'",
     "python_full_version == '3.11.*' and platform_machine != 's390x' and sys_platform == 'darwin'",
     "python_full_version == '3.11.*' and platform_machine != 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
     "python_full_version == '3.11.*' and platform_machine == 's390x' and sys_platform == 'linux'",
@@ -680,7 +690,8 @@ name = "etils"
 version = "1.13.0"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
-    "python_full_version < '3.11' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version < '3.11' and platform_machine != 'aarch64' and platform_machine != 's390x' and sys_platform == 'linux') or (python_full_version < '3.11' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux')",
+    "python_full_version < '3.11' and platform_machine == 'aarch64' and platform_python_implementation == 'CPython' and sys_platform == 'linux'",
     "python_full_version < '3.11' and platform_machine != 's390x' and sys_platform == 'darwin'",
     "python_full_version < '3.11' and platform_machine != 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
     "python_full_version < '3.11' and platform_machine == 's390x' and sys_platform == 'linux'",
@@ -705,10 +716,13 @@ name = "etils"
 version = "1.14.0"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
-    "python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version >= '3.13' and platform_machine != 'aarch64' and platform_machine != 's390x' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version >= '3.13' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux')",
+    "python_full_version >= '3.13' and platform_machine == 'x86_64' and sys_platform == 'linux'",
+    "python_full_version >= '3.13' and platform_machine == 'aarch64' and platform_python_implementation == 'CPython' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform == 'darwin'",
     "python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
-    "python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version == '3.12.*' and platform_machine != 'aarch64' and platform_machine != 's390x' and sys_platform == 'linux') or (python_full_version == '3.12.*' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux')",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and platform_python_implementation == 'CPython' and sys_platform == 'linux'",
     "python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform == 'darwin'",
     "python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
     "python_full_version >= '3.13' and platform_machine == 's390x' and sys_platform == 'linux'",
@@ -717,7 +731,8 @@ resolution-markers = [
     "python_full_version == '3.12.*' and platform_machine == 's390x' and sys_platform == 'linux'",
     "python_full_version == '3.12.*' and platform_machine == 's390x' and sys_platform == 'darwin'",
     "python_full_version == '3.12.*' and platform_machine == 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
-    "python_full_version == '3.11.*' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and platform_machine != 's390x' and sys_platform == 'linux') or (python_full_version == '3.11.*' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux')",
+    "python_full_version == '3.11.*' and platform_machine == 'aarch64' and platform_python_implementation == 'CPython' and sys_platform == 'linux'",
     "python_full_version == '3.11.*' and platform_machine != 's390x' and sys_platform == 'darwin'",
     "python_full_version == '3.11.*' and platform_machine != 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
     "python_full_version == '3.11.*' and platform_machine == 's390x' and sys_platform == 'linux'",
@@ -1101,7 +1116,8 @@ name = "ipython"
 version = "8.39.0"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
-    "python_full_version < '3.11' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version < '3.11' and platform_machine != 'aarch64' and platform_machine != 's390x' and sys_platform == 'linux') or (python_full_version < '3.11' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux')",
+    "python_full_version < '3.11' and platform_machine == 'aarch64' and platform_python_implementation == 'CPython' and sys_platform == 'linux'",
     "python_full_version < '3.11' and platform_machine != 's390x' and sys_platform == 'darwin'",
     "python_full_version < '3.11' and platform_machine != 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
     "python_full_version < '3.11' and platform_machine == 's390x' and sys_platform == 'linux'",
@@ -1131,7 +1147,8 @@ name = "ipython"
 version = "9.10.1"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
-    "python_full_version == '3.11.*' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and platform_machine != 's390x' and sys_platform == 'linux') or (python_full_version == '3.11.*' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux')",
+    "python_full_version == '3.11.*' and platform_machine == 'aarch64' and platform_python_implementation == 'CPython' and sys_platform == 'linux'",
     "python_full_version == '3.11.*' and platform_machine != 's390x' and sys_platform == 'darwin'",
     "python_full_version == '3.11.*' and platform_machine != 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
     "python_full_version == '3.11.*' and platform_machine == 's390x' and sys_platform == 'linux'",
@@ -1161,10 +1178,13 @@ name = "ipython"
 version = "9.12.0"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
-    "python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version >= '3.13' and platform_machine != 'aarch64' and platform_machine != 's390x' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version >= '3.13' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux')",
+    "python_full_version >= '3.13' and platform_machine == 'x86_64' and sys_platform == 'linux'",
+    "python_full_version >= '3.13' and platform_machine == 'aarch64' and platform_python_implementation == 'CPython' and sys_platform == 'linux'",
     "python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform == 'darwin'",
     "python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
-    "python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version == '3.12.*' and platform_machine != 'aarch64' and platform_machine != 's390x' and sys_platform == 'linux') or (python_full_version == '3.12.*' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux')",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and platform_python_implementation == 'CPython' and sys_platform == 'linux'",
     "python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform == 'darwin'",
     "python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
     "python_full_version >= '3.13' and platform_machine == 's390x' and sys_platform == 'linux'",
@@ -2058,7 +2078,8 @@ name = "networkx"
 version = "3.4.2"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
-    "python_full_version < '3.11' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version < '3.11' and platform_machine != 'aarch64' and platform_machine != 's390x' and sys_platform == 'linux') or (python_full_version < '3.11' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux')",
+    "python_full_version < '3.11' and platform_machine == 'aarch64' and platform_python_implementation == 'CPython' and sys_platform == 'linux'",
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     "python_full_version < '3.11' and platform_machine != 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
     "python_full_version < '3.11' and platform_machine == 's390x' and sys_platform == 'linux'",
@@ -2075,10 +2096,13 @@ name = "networkx"
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 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
-    "python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version >= '3.13' and platform_machine != 'aarch64' and platform_machine != 's390x' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version >= '3.13' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux')",
+    "python_full_version >= '3.13' and platform_machine == 'x86_64' and sys_platform == 'linux'",
+    "python_full_version >= '3.13' and platform_machine == 'aarch64' and platform_python_implementation == 'CPython' and sys_platform == 'linux'",
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     "python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
-    "python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version == '3.12.*' and platform_machine != 'aarch64' and platform_machine != 's390x' and sys_platform == 'linux') or (python_full_version == '3.12.*' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux')",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and platform_python_implementation == 'CPython' and sys_platform == 'linux'",
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     "python_full_version == '3.12.*' and platform_machine == 's390x' and sys_platform == 'darwin'",
     "python_full_version == '3.12.*' and platform_machine == 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
-    "python_full_version == '3.11.*' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and platform_machine != 's390x' and sys_platform == 'linux') or (python_full_version == '3.11.*' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux')",
+    "python_full_version == '3.11.*' and platform_machine == 'aarch64' and platform_python_implementation == 'CPython' and sys_platform == 'linux'",
     "python_full_version == '3.11.*' and platform_machine != 's390x' and sys_platform == 'darwin'",
     "python_full_version == '3.11.*' and platform_machine != 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
     "python_full_version == '3.11.*' and platform_machine == 's390x' and sys_platform == 'linux'",
@@ -2141,7 +2166,8 @@ name = "numpy"
 version = "2.2.6"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
-    "python_full_version < '3.11' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version < '3.11' and platform_machine != 'aarch64' and platform_machine != 's390x' and sys_platform == 'linux') or (python_full_version < '3.11' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux')",
+    "python_full_version < '3.11' and platform_machine == 'aarch64' and platform_python_implementation == 'CPython' and sys_platform == 'linux'",
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     "python_full_version < '3.11' and platform_machine != 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
     "python_full_version < '3.11' and platform_machine == 's390x' and sys_platform == 'linux'",
@@ -2211,10 +2237,13 @@ name = "numpy"
 version = "2.4.4"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
-    "python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version >= '3.13' and platform_machine != 'aarch64' and platform_machine != 's390x' and platform_machine != 'x86_64' and sys_platform == 'linux') or (python_full_version >= '3.13' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux')",
+    "python_full_version >= '3.13' and platform_machine == 'x86_64' and sys_platform == 'linux'",
+    "python_full_version >= '3.13' and platform_machine == 'aarch64' and platform_python_implementation == 'CPython' and sys_platform == 'linux'",
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     "python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
-    "python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version == '3.12.*' and platform_machine != 'aarch64' and platform_machine != 's390x' and sys_platform == 'linux') or (python_full_version == '3.12.*' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux')",
+    "python_full_version == '3.12.*' and platform_machine == 'aarch64' and platform_python_implementation == 'CPython' and sys_platform == 'linux'",
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@@ -2223,7 +2252,8 @@ resolution-markers = [
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     "python_full_version == '3.12.*' and platform_machine == 's390x' and sys_platform == 'darwin'",
     "python_full_version == '3.12.*' and platform_machine == 's390x' and sys_platform != 'darwin' and sys_platform != 'linux'",
-    "python_full_version == '3.11.*' and platform_machine != 's390x' and sys_platform == 'linux'",
+    "(python_full_version == '3.11.*' and platform_machine != 'aarch64' and platform_machine != 's390x' and sys_platform == 'linux') or (python_full_version == '3.11.*' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux')",
+    "python_full_version == '3.11.*' and platform_machine == 'aarch64' and platform_python_implementation == 'CPython' and sys_platform == 'linux'",
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     "python_full_version == '3.11.*' and platform_machine == 's390x' and sys_platform == 'linux'",
@@ -2286,102 +2316,96 @@ wheels = [
 
 [[package]]
 name = "nvidia-cublas-cu12"
-version = "12.6.4.1"
+version = "12.8.3.14"
 source = { registry = "https://pypi.org/simple" }
 wheels = [
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+    { url = "https://files.pythonhosted.org/packages/82/df/4b01f10069e23c641f116c62fc31e31e8dc361a153175d81561d15c8143b/nvidia_cublas_cu12-12.8.3.14-py3-none-manylinux_2_27_x86_64.whl", hash = "sha256:3f0e05e7293598cf61933258b73e66a160c27d59c4422670bf0b79348c04be44", size = 609620630, upload-time = "2025-01-23T17:55:00.753Z" },
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 [[package]]
 name = "nvidia-cuda-cupti-cu12"
-version = "12.6.80"
+version = "12.8.57"
 source = { registry = "https://pypi.org/simple" }
 wheels = [
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+    { url = "https://files.pythonhosted.org/packages/39/6f/3683ecf4e38931971946777d231c2df00dd5c1c4c2c914c42ad8f9f4dca6/nvidia_cuda_cupti_cu12-12.8.57-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:8e0b2eb847de260739bee4a3f66fac31378f4ff49538ff527a38a01a9a39f950", size = 10237547, upload-time = "2025-01-23T17:47:56.863Z" },
 ]
 
 [[package]]
 name = "nvidia-cuda-nvrtc-cu12"
-version = "12.6.77"
+version = "12.8.61"
 source = { registry = "https://pypi.org/simple" }
 wheels = [
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+    { url = "https://files.pythonhosted.org/packages/d4/22/32029d4583f7b19cfe75c84399cbcfd23f2aaf41c66fc8db4da460104fff/nvidia_cuda_nvrtc_cu12-12.8.61-py3-none-manylinux2010_x86_64.manylinux_2_12_x86_64.whl", hash = "sha256:a0fa9c2a21583105550ebd871bd76e2037205d56f33f128e69f6d2a55e0af9ed", size = 88024585, upload-time = "2025-01-23T17:50:10.722Z" },
 ]
 
 [[package]]
 name = "nvidia-cuda-runtime-cu12"
-version = "12.6.77"
+version = "12.8.57"
 source = { registry = "https://pypi.org/simple" }
 wheels = [
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+    { url = "https://files.pythonhosted.org/packages/16/f6/0e1ef31f4753a44084310ba1a7f0abaf977ccd810a604035abb43421c057/nvidia_cuda_runtime_cu12-12.8.57-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:75342e28567340b7428ce79a5d6bb6ca5ff9d07b69e7ce00d2c7b4dc23eff0be", size = 954762, upload-time = "2025-01-23T17:47:22.21Z" },
 ]
 
 [[package]]
 name = "nvidia-cudnn-cu12"
-version = "9.5.1.17"
+version = "9.7.1.26"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "nvidia-cublas-cu12", marker = "platform_machine != 's390x' and sys_platform == 'linux'" },
+    { name = "nvidia-cublas-cu12", marker = "(python_full_version < '3.13' and platform_machine != 'aarch64' and platform_machine != 's390x' and sys_platform == 'linux') or (python_full_version < '3.13' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux')" },
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 wheels = [
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+    { url = "https://files.pythonhosted.org/packages/25/dc/dc825c4b1c83b538e207e34f48f86063c88deaa35d46c651c7c181364ba2/nvidia_cudnn_cu12-9.7.1.26-py3-none-manylinux_2_27_x86_64.whl", hash = "sha256:6d011159a158f3cfc47bf851aea79e31bcff60d530b70ef70474c84cac484d07", size = 726851421, upload-time = "2025-02-06T22:18:29.812Z" },
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 [[package]]
 name = "nvidia-cufft-cu12"
-version = "11.3.0.4"
+version = "11.3.3.41"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "nvidia-nvjitlink-cu12", marker = "platform_machine != 's390x' and sys_platform == 'linux'" },
+    { name = "nvidia-nvjitlink-cu12", marker = "(python_full_version < '3.13' and platform_machine != 'aarch64' and platform_machine != 's390x' and sys_platform == 'linux') or (python_full_version < '3.13' and platform_machine == 'aarch64' and platform_python_implementation != 'CPython' and sys_platform == 'linux') or (platform_machine == 'x86_64' and sys_platform == 'linux')" },
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 [[package]]
 name = "tornado"
 version = "6.5.5"
@@ -3689,7 +3827,7 @@ name = "triton"
 version = "3.3.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "setuptools", marker = "platform_machine != 's390x' and sys_platform == 'linux'" },
+    { name = "setuptools", marker = "sys_platform == 'linux'" },
 ]
 wheels = [
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@@ -3752,7 +3890,11 @@ dependencies = [
     { name = "setuptools" },
     { name = "tensorboard" },
     { name = "tensordict" },
-    { name = "torch" },
+    { name = "torch", version = "2.7.0", source = { registry = "https://pypi.org/simple" }, marker = "sys_platform != 'linux'" },
+    { name = "torch", version = "2.7.0+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "sys_platform == 'linux'" },
+    { name = "torchvision", version = "0.22.0", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "platform_machine == 'aarch64' and platform_python_implementation == 'CPython' and sys_platform == 'linux'" },
+    { name = "torchvision", version = "0.22.0", source = { registry = "https://pypi.org/simple" }, marker = "sys_platform != 'linux'" },
+    { name = "torchvision", version = "0.22.0+cu128", source = { registry = "https://download.pytorch.org/whl/cu128" }, marker = "(platform_machine != 'aarch64' and sys_platform == 'linux') or (platform_python_implementation != 'CPython' and sys_platform == 'linux')" },
     { name = "tqdm" },
     { name = "typing-extensions" },
     { name = "wandb" },
@@ -3791,12 +3933,15 @@ requires-dist = [
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     { name = "tensorboard" },
     { name = "tensordict" },
-    { name = "torch", specifier = "==2.7.0" },
+    { name = "torch", marker = "sys_platform != 'linux'", specifier = "==2.7.0" },
+    { name = "torch", marker = "sys_platform == 'linux'", specifier = "==2.7.0", index = "https://download.pytorch.org/whl/cu128" },
+    { name = "torchvision", marker = "sys_platform != 'linux'" },
+    { name = "torchvision", marker = "sys_platform == 'linux'", index = "https://download.pytorch.org/whl/cu128" },
     { name = "tqdm" },
     { name = "typing-extensions" },
     { name = "wandb" },
 ]
-provides-extras = ["cu118", "cu124", "cu126", "cu128", "motrix"]
+provides-extras = ["motrix"]
 
 [package.metadata.requires-dev]
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