diff --git a/.github/poetry/cpu/poetry.lock b/.github/poetry/cpu/poetry.lock
index ebea0f20..05d0ad50 100644
--- a/.github/poetry/cpu/poetry.lock
+++ b/.github/poetry/cpu/poetry.lock
@@ -517,21 +517,11 @@ files = [
     {file = "distlib-0.3.8.tar.gz", hash = "sha256:1530ea13e350031b6312d8580ddb6b27a104275a31106523b8f123787f494f64"},
 ]
 
-[[package]]
-name = "dm"
-version = "1.3"
-description = "Dict to Data mapper"
-optional = false
-python-versions = "*"
-files = [
-    {file = "dm-1.3.tar.gz", hash = "sha256:ce77537bf346b5d8c0dc0b5d679cfc4a946faadcd5315e6c80ef6f3af824130d"},
-]
-
 [[package]]
 name = "dm-control"
 version = "1.0.14"
 description = "Continuous control environments and MuJoCo Python bindings."
-optional = false
+optional = true
 python-versions = ">=3.8"
 files = [
     {file = "dm_control-1.0.14-py3-none-any.whl", hash = "sha256:883c63244a7ebf598700a97564ed19fffd3479ca79efd090aed881609cdb9fc6"},
@@ -562,7 +552,7 @@ hdf5 = ["h5py"]
 name = "dm-env"
 version = "1.6"
 description = "A Python interface for Reinforcement Learning environments."
-optional = false
+optional = true
 python-versions = ">=3.7"
 files = [
     {file = "dm-env-1.6.tar.gz", hash = "sha256:a436eb1c654c39e0c986a516cee218bea7140b510fceff63f97eb4fcff3d93de"},
@@ -578,7 +568,7 @@ numpy = "*"
 name = "dm-tree"
 version = "0.1.8"
 description = "Tree is a library for working with nested data structures."
-optional = false
+optional = true
 python-versions = "*"
 files = [
     {file = "dm-tree-0.1.8.tar.gz", hash = "sha256:0fcaabbb14e7980377439e7140bd05552739ca5e515ecb3119f234acee4b9430"},
@@ -682,7 +672,7 @@ test = ["pytest (>=6)"]
 name = "farama-notifications"
 version = "0.0.4"
 description = "Notifications for all Farama Foundation maintained libraries."
-optional = false
+optional = true
 python-versions = "*"
 files = [
     {file = "Farama-Notifications-0.0.4.tar.gz", hash = "sha256:13fceff2d14314cf80703c8266462ebf3733c7d165336eee998fc58e545efd18"},
@@ -806,7 +796,7 @@ test = ["black", "coverage[toml]", "ddt (>=1.1.1,!=1.4.3)", "mock", "mypy", "pre
 name = "glfw"
 version = "2.7.0"
 description = "A ctypes-based wrapper for GLFW3."
-optional = false
+optional = true
 python-versions = "*"
 files = [
     {file = "glfw-2.7.0-py2.py27.py3.py30.py31.py32.py33.py34.py35.py36.py37.py38-none-macosx_10_6_intel.whl", hash = "sha256:bd82849edcceda4e262bd1227afaa74b94f9f0731c1197863cd25c15bfc613fc"},
@@ -893,7 +883,7 @@ protobuf = ["grpcio-tools (>=1.62.1)"]
 name = "gymnasium"
 version = "0.29.1"
 description = "A standard API for reinforcement learning and a diverse set of reference environments (formerly Gym)."
-optional = false
+optional = true
 python-versions = ">=3.8"
 files = [
     {file = "gymnasium-0.29.1-py3-none-any.whl", hash = "sha256:61c3384b5575985bb7f85e43213bcb40f36fcdff388cae6bc229304c71f2843e"},
@@ -923,7 +913,7 @@ toy-text = ["pygame (>=2.1.3)", "pygame (>=2.1.3)"]
 name = "gymnasium-robotics"
 version = "1.2.4"
 description = "Robotics environments for the Gymnasium repo."
-optional = false
+optional = true
 python-versions = ">=3.8"
 files = [
     {file = "gymnasium-robotics-1.2.4.tar.gz", hash = "sha256:d304192b066f8b800599dfbe3d9d90bba9b761ee884472bdc4d05968a8bc61cb"},
@@ -1155,7 +1145,7 @@ i18n = ["Babel (>=2.7)"]
 name = "labmaze"
 version = "1.0.6"
 description = "LabMaze: DeepMind Lab's text maze generator."
-optional = false
+optional = true
 python-versions = "*"
 files = [
     {file = "labmaze-1.0.6-cp310-cp310-macosx_10_12_x86_64.whl", hash = "sha256:b2ddef976dfd8d992b19cfa6c633f2eba7576d759c2082da534e3f727479a84a"},
@@ -1199,7 +1189,7 @@ setuptools = "!=50.0.0"
 name = "lazy-loader"
 version = "0.3"
 description = "lazy_loader"
-optional = false
+optional = true
 python-versions = ">=3.7"
 files = [
     {file = "lazy_loader-0.3-py3-none-any.whl", hash = "sha256:1e9e76ee8631e264c62ce10006718e80b2cfc74340d17d1031e0f84af7478554"},
@@ -1244,7 +1234,7 @@ files = [
 name = "lxml"
 version = "5.1.0"
 description = "Powerful and Pythonic XML processing library combining libxml2/libxslt with the ElementTree API."
-optional = false
+optional = true
 python-versions = ">=3.6"
 files = [
     {file = "lxml-5.1.0-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:704f5572ff473a5f897745abebc6df40f22d4133c1e0a1f124e4f2bd3330ff7e"},
@@ -1462,7 +1452,7 @@ tests = ["pytest (>=4.6)"]
 name = "mujoco"
 version = "2.3.7"
 description = "MuJoCo Physics Simulator"
-optional = false
+optional = true
 python-versions = ">=3.8"
 files = [
     {file = "mujoco-2.3.7-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:e8714a5ff6a1561b364b7b4648d4c0c8d13e751874cf7401c309b9d23fa9598b"},
@@ -1776,7 +1766,7 @@ xml = ["lxml (>=4.9.2)"]
 name = "pettingzoo"
 version = "1.24.3"
 description = "Gymnasium for multi-agent reinforcement learning."
-optional = false
+optional = true
 python-versions = ">=3.8"
 files = [
     {file = "pettingzoo-1.24.3-py3-none-any.whl", hash = "sha256:23ed90517d2e8a7098bdaf5e31234b3a7f7b73ca578d70d1ca7b9d0cb0e37982"},
@@ -2144,7 +2134,7 @@ dev = ["aafigure", "matplotlib", "pygame", "pyglet (<2.0.0)", "sphinx", "wheel"]
 name = "pyopengl"
 version = "3.1.7"
 description = "Standard OpenGL bindings for Python"
-optional = false
+optional = true
 python-versions = "*"
 files = [
     {file = "PyOpenGL-3.1.7-py3-none-any.whl", hash = "sha256:a6ab19cf290df6101aaf7470843a9c46207789855746399d0af92521a0a92b7a"},
@@ -2155,7 +2145,7 @@ files = [
 name = "pyparsing"
 version = "3.1.2"
 description = "pyparsing module - Classes and methods to define and execute parsing grammars"
-optional = false
+optional = true
 python-versions = ">=3.6.8"
 files = [
     {file = "pyparsing-3.1.2-py3-none-any.whl", hash = "sha256:f9db75911801ed778fe61bb643079ff86601aca99fcae6345aa67292038fb742"},
@@ -2586,7 +2576,7 @@ torch = ["safetensors[numpy]", "torch (>=1.10)"]
 name = "scikit-image"
 version = "0.22.0"
 description = "Image processing in Python"
-optional = false
+optional = true
 python-versions = ">=3.9"
 files = [
     {file = "scikit_image-0.22.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:74ec5c1d4693506842cc7c9487c89d8fc32aed064e9363def7af08b8f8cbb31d"},
@@ -2634,7 +2624,7 @@ test = ["asv", "matplotlib (>=3.5)", "numpydoc (>=1.5)", "pooch (>=1.6.0)", "pyt
 name = "scipy"
 version = "1.12.0"
 description = "Fundamental algorithms for scientific computing in Python"
-optional = false
+optional = true
 python-versions = ">=3.9"
 files = [
     {file = "scipy-1.12.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:78e4402e140879387187f7f25d91cc592b3501a2e51dfb320f48dfb73565f10b"},
@@ -2839,7 +2829,7 @@ testing-integration = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "jar
 name = "shapely"
 version = "2.0.3"
 description = "Manipulation and analysis of geometric objects"
-optional = false
+optional = true
 python-versions = ">=3.7"
 files = [
     {file = "shapely-2.0.3-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:af7e9abe180b189431b0f490638281b43b84a33a960620e6b2e8d3e3458b61a1"},
@@ -3080,7 +3070,7 @@ tests = ["pytest", "pytest-cov"]
 name = "tifffile"
 version = "2024.2.12"
 description = "Read and write TIFF files"
-optional = false
+optional = true
 python-versions = ">=3.9"
 files = [
     {file = "tifffile-2024.2.12-py3-none-any.whl", hash = "sha256:870998f82fbc94ff7c3528884c1b0ae54863504ff51dbebea431ac3fa8fb7c21"},
@@ -3384,4 +3374,4 @@ xarm = ["sim-xarm"]
 [metadata]
 lock-version = "2.0"
 python-versions = "^3.10"
-content-hash = "b0e8e2370d437a31354b65e467c75a82f470d4c8bb7c58b48fa767614765920a"
+content-hash = "1203f5ffb62ef7146ce79be8353d37f0262ae5e6e63934b76084f50d569b10b9"
diff --git a/.github/poetry/cpu/pyproject.toml b/.github/poetry/cpu/pyproject.toml
index f9ac8757..a8eccafe 100644
--- a/.github/poetry/cpu/pyproject.toml
+++ b/.github/poetry/cpu/pyproject.toml
@@ -28,7 +28,6 @@ packages = [{include = "lerobot"}]
 python = "^3.10"
 termcolor = "^2.4.0"
 omegaconf = "^2.3.0"
-dm-env = "^1.6"
 pandas = "^2.2.1"
 wandb = "^0.16.3"
 moviepy = "^1.0.3"
@@ -39,24 +38,17 @@ einops = "^0.7.0"
 pygame = "^2.5.2"
 pymunk = "^6.6.0"
 zarr = "^2.17.0"
-shapely = "^2.0.3"
-scikit-image = "^0.22.0"
 numba = "^0.59.0"
 mpmath = "^1.3.0"
 torch = {version = "^2.2.1", source = "torch-cpu"}
 tensordict = {git = "https://github.com/pytorch/tensordict"}
 torchrl = {git = "https://github.com/pytorch/rl", rev = "13bef426dcfa5887c6e5034a6e9697993fa92c37"}
-mujoco = "^2.3.7"
 opencv-python = "^4.9.0.80"
 diffusers = "^0.26.3"
 torchvision = {version = "^0.17.1", source = "torch-cpu"}
 h5py = "^3.10.0"
-dm = "^1.3"
-dm-control = "1.0.14"
 robomimic = "0.2.0"
 huggingface-hub = "^0.21.4"
-gymnasium-robotics = "^1.2.4"
-gymnasium = "^0.29.1"
 cmake = "^3.29.0.1"
 sim-pusht = { version = "^0.1.0", optional = true}
 sim-xarm = { version = "^0.1.0", optional = true}
diff --git a/poetry.lock b/poetry.lock
index ab3a0867..53800e9c 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -521,7 +521,7 @@ files = [
 name = "dm-control"
 version = "1.0.14"
 description = "Continuous control environments and MuJoCo Python bindings."
-optional = false
+optional = true
 python-versions = ">=3.8"
 files = [
     {file = "dm_control-1.0.14-py3-none-any.whl", hash = "sha256:883c63244a7ebf598700a97564ed19fffd3479ca79efd090aed881609cdb9fc6"},
@@ -552,7 +552,7 @@ hdf5 = ["h5py"]
 name = "dm-env"
 version = "1.6"
 description = "A Python interface for Reinforcement Learning environments."
-optional = false
+optional = true
 python-versions = ">=3.7"
 files = [
     {file = "dm-env-1.6.tar.gz", hash = "sha256:a436eb1c654c39e0c986a516cee218bea7140b510fceff63f97eb4fcff3d93de"},
@@ -568,7 +568,7 @@ numpy = "*"
 name = "dm-tree"
 version = "0.1.8"
 description = "Tree is a library for working with nested data structures."
-optional = false
+optional = true
 python-versions = "*"
 files = [
     {file = "dm-tree-0.1.8.tar.gz", hash = "sha256:0fcaabbb14e7980377439e7140bd05552739ca5e515ecb3119f234acee4b9430"},
@@ -672,7 +672,7 @@ test = ["pytest (>=6)"]
 name = "farama-notifications"
 version = "0.0.4"
 description = "Notifications for all Farama Foundation maintained libraries."
-optional = false
+optional = true
 python-versions = "*"
 files = [
     {file = "Farama-Notifications-0.0.4.tar.gz", hash = "sha256:13fceff2d14314cf80703c8266462ebf3733c7d165336eee998fc58e545efd18"},
@@ -796,7 +796,7 @@ test = ["black", "coverage[toml]", "ddt (>=1.1.1,!=1.4.3)", "mock", "mypy", "pre
 name = "glfw"
 version = "2.7.0"
 description = "A ctypes-based wrapper for GLFW3."
-optional = false
+optional = true
 python-versions = "*"
 files = [
     {file = "glfw-2.7.0-py2.py27.py3.py30.py31.py32.py33.py34.py35.py36.py37.py38-none-macosx_10_6_intel.whl", hash = "sha256:bd82849edcceda4e262bd1227afaa74b94f9f0731c1197863cd25c15bfc613fc"},
@@ -883,7 +883,7 @@ protobuf = ["grpcio-tools (>=1.62.1)"]
 name = "gymnasium"
 version = "0.29.1"
 description = "A standard API for reinforcement learning and a diverse set of reference environments (formerly Gym)."
-optional = false
+optional = true
 python-versions = ">=3.8"
 files = [
     {file = "gymnasium-0.29.1-py3-none-any.whl", hash = "sha256:61c3384b5575985bb7f85e43213bcb40f36fcdff388cae6bc229304c71f2843e"},
@@ -913,7 +913,7 @@ toy-text = ["pygame (>=2.1.3)", "pygame (>=2.1.3)"]
 name = "gymnasium-robotics"
 version = "1.2.4"
 description = "Robotics environments for the Gymnasium repo."
-optional = false
+optional = true
 python-versions = ">=3.8"
 files = [
     {file = "gymnasium-robotics-1.2.4.tar.gz", hash = "sha256:d304192b066f8b800599dfbe3d9d90bba9b761ee884472bdc4d05968a8bc61cb"},
@@ -1218,7 +1218,7 @@ i18n = ["Babel (>=2.7)"]
 name = "labmaze"
 version = "1.0.6"
 description = "LabMaze: DeepMind Lab's text maze generator."
-optional = false
+optional = true
 python-versions = "*"
 files = [
     {file = "labmaze-1.0.6-cp310-cp310-macosx_10_12_x86_64.whl", hash = "sha256:b2ddef976dfd8d992b19cfa6c633f2eba7576d759c2082da534e3f727479a84a"},
@@ -1262,7 +1262,7 @@ setuptools = "!=50.0.0"
 name = "lazy-loader"
 version = "0.3"
 description = "lazy_loader"
-optional = false
+optional = true
 python-versions = ">=3.7"
 files = [
     {file = "lazy_loader-0.3-py3-none-any.whl", hash = "sha256:1e9e76ee8631e264c62ce10006718e80b2cfc74340d17d1031e0f84af7478554"},
@@ -1307,7 +1307,7 @@ files = [
 name = "lxml"
 version = "5.1.0"
 description = "Powerful and Pythonic XML processing library combining libxml2/libxslt with the ElementTree API."
-optional = false
+optional = true
 python-versions = ">=3.6"
 files = [
     {file = "lxml-5.1.0-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:704f5572ff473a5f897745abebc6df40f22d4133c1e0a1f124e4f2bd3330ff7e"},
@@ -1525,7 +1525,7 @@ tests = ["pytest (>=4.6)"]
 name = "mujoco"
 version = "2.3.7"
 description = "MuJoCo Physics Simulator"
-optional = false
+optional = true
 python-versions = ">=3.8"
 files = [
     {file = "mujoco-2.3.7-cp310-cp310-macosx_10_16_x86_64.whl", hash = "sha256:e8714a5ff6a1561b364b7b4648d4c0c8d13e751874cf7401c309b9d23fa9598b"},
@@ -1980,7 +1980,7 @@ xml = ["lxml (>=4.9.2)"]
 name = "pettingzoo"
 version = "1.24.3"
 description = "Gymnasium for multi-agent reinforcement learning."
-optional = false
+optional = true
 python-versions = ">=3.8"
 files = [
     {file = "pettingzoo-1.24.3-py3-none-any.whl", hash = "sha256:23ed90517d2e8a7098bdaf5e31234b3a7f7b73ca578d70d1ca7b9d0cb0e37982"},
@@ -2348,7 +2348,7 @@ dev = ["aafigure", "matplotlib", "pygame", "pyglet (<2.0.0)", "sphinx", "wheel"]
 name = "pyopengl"
 version = "3.1.7"
 description = "Standard OpenGL bindings for Python"
-optional = false
+optional = true
 python-versions = "*"
 files = [
     {file = "PyOpenGL-3.1.7-py3-none-any.whl", hash = "sha256:a6ab19cf290df6101aaf7470843a9c46207789855746399d0af92521a0a92b7a"},
@@ -2359,7 +2359,7 @@ files = [
 name = "pyparsing"
 version = "3.1.2"
 description = "pyparsing module - Classes and methods to define and execute parsing grammars"
-optional = false
+optional = true
 python-versions = ">=3.6.8"
 files = [
     {file = "pyparsing-3.1.2-py3-none-any.whl", hash = "sha256:f9db75911801ed778fe61bb643079ff86601aca99fcae6345aa67292038fb742"},
@@ -2790,7 +2790,7 @@ torch = ["safetensors[numpy]", "torch (>=1.10)"]
 name = "scikit-image"
 version = "0.22.0"
 description = "Image processing in Python"
-optional = false
+optional = true
 python-versions = ">=3.9"
 files = [
     {file = "scikit_image-0.22.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:74ec5c1d4693506842cc7c9487c89d8fc32aed064e9363def7af08b8f8cbb31d"},
@@ -2838,7 +2838,7 @@ test = ["asv", "matplotlib (>=3.5)", "numpydoc (>=1.5)", "pooch (>=1.6.0)", "pyt
 name = "scipy"
 version = "1.12.0"
 description = "Fundamental algorithms for scientific computing in Python"
-optional = false
+optional = true
 python-versions = ">=3.9"
 files = [
     {file = "scipy-1.12.0-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:78e4402e140879387187f7f25d91cc592b3501a2e51dfb320f48dfb73565f10b"},
@@ -3043,7 +3043,7 @@ testing-integration = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "jar
 name = "shapely"
 version = "2.0.3"
 description = "Manipulation and analysis of geometric objects"
-optional = false
+optional = true
 python-versions = ">=3.7"
 files = [
     {file = "shapely-2.0.3-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:af7e9abe180b189431b0f490638281b43b84a33a960620e6b2e8d3e3458b61a1"},
@@ -3284,7 +3284,7 @@ tests = ["pytest", "pytest-cov"]
 name = "tifffile"
 version = "2024.2.12"
 description = "Read and write TIFF files"
-optional = false
+optional = true
 python-versions = ">=3.9"
 files = [
     {file = "tifffile-2024.2.12-py3-none-any.whl", hash = "sha256:870998f82fbc94ff7c3528884c1b0ae54863504ff51dbebea431ac3fa8fb7c21"},
@@ -3643,4 +3643,4 @@ xarm = ["sim-xarm"]
 [metadata]
 lock-version = "2.0"
 python-versions = "^3.10"
-content-hash = "e42b69516ddf3626847e98266fb844dcbcf2cdfc3d48524326e212bc494eafc7"
+content-hash = "1a27121cca3d38e1bafba74157e3bb68cc57a420bb7a6d6e8edbec0fb90368d6"
diff --git a/pyproject.toml b/pyproject.toml
index dd24f0ec..afff8042 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -28,7 +28,6 @@ packages = [{include = "lerobot"}]
 python = "^3.10"
 termcolor = "^2.4.0"
 omegaconf = "^2.3.0"
-dm-env = "^1.6"
 pandas = "^2.2.1"
 wandb = "^0.16.3"
 moviepy = "^1.0.3"
@@ -39,23 +38,17 @@ einops = "^0.7.0"
 pygame = "^2.5.2"
 pymunk = "^6.6.0"
 zarr = "^2.17.0"
-shapely = "^2.0.3"
-scikit-image = "^0.22.0"
 numba = "^0.59.0"
 mpmath = "^1.3.0"
 torch = "^2.2.1"
 tensordict = {git = "https://github.com/pytorch/tensordict"}
 torchrl = {git = "https://github.com/pytorch/rl", rev = "13bef426dcfa5887c6e5034a6e9697993fa92c37"}
-mujoco = "^2.3.7"
 opencv-python = "^4.9.0.80"
 diffusers = "^0.26.3"
 torchvision = "^0.17.1"
 h5py = "^3.10.0"
-dm-control = "1.0.14"
 huggingface-hub = {extras = ["hf-transfer"], version = "^0.21.4"}
 robomimic = "0.2.0"
-gymnasium-robotics = "^1.2.4"
-gymnasium = "^0.29.1"
 cmake = "^3.29.0.1"
 sim-pusht = { version = "^0.1.0", optional = true}
 sim-xarm = { version = "^0.1.0", optional = true}