diff --git a/README.md b/README.md
index 1019f2343..f511d34fd 100644
--- a/README.md
+++ b/README.md
@@ -77,6 +77,10 @@ Install 🤗 LeRobot:
 pip install .
 ```
 
+> **NOTE:** Depending on your platform, If you encounter any build errors during this step
+you may need to install `cmake` and `build-essential` for building some of our dependencies.
+On linux: `sudo apt-get install cmake build-essential`
+
 For simulations, 🤗 LeRobot comes with gymnasium environments that can be installed as extras:
 - [aloha](https://github.com/huggingface/gym-aloha)
 - [xarm](https://github.com/huggingface/gym-xarm)
diff --git a/poetry.lock b/poetry.lock
index bde0865ef..976e879b2 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,4 +1,4 @@
-# This file is automatically @generated by Poetry 1.8.1 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand.
 
 [[package]]
 name = "absl-py"
@@ -404,28 +404,28 @@ files = [
 
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 name = "cmake"
-version = "3.29.2"
+version = "3.29.3"
 description = "CMake is an open-source, cross-platform family of tools designed to build, test and package software"
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 python-versions = ">=3.7"
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 ]
 
 [package.extras]
@@ -956,13 +956,13 @@ tqdm = ["tqdm"]
 
 [[package]]
 name = "gdown"
-version = "5.1.0"
+version = "5.2.0"
 description = "Google Drive Public File/Folder Downloader"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -972,7 +972,7 @@ requests = {version = "*", extras = ["socks"]}
 tqdm = "*"
 
 [package.extras]
-test = ["build", "mypy", "pytest", "pytest-xdist", "ruff", "twine", "types-requests"]
+test = ["build", "mypy", "pytest", "pytest-xdist", "ruff", "twine", "types-requests", "types-setuptools"]
 
 [[package]]
 name = "gitdb"
@@ -1050,13 +1050,13 @@ test = ["pytest (>=8.1.0)", "pytest-cov (>=5.0.0)"]
 
 [[package]]
 name = "gym-pusht"
-version = "0.1.3"
+version = "0.1.4"
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 optional = true
 python-versions = "<4.0,>=3.10"
 files = [
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 [package.dependencies]
@@ -1576,165 +1576,149 @@ files = [
 
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 name = "lxml"
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+version = "5.2.2"
 description = "Powerful and Pythonic XML processing library combining libxml2/libxslt with the ElementTree API."
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 python-versions = ">=3.6"
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+    {file = "regex-2024.5.15.tar.gz", hash = "sha256:d3ee02d9e5f482cc8309134a91eeaacbdd2261ba111b0fef3748eeb4913e6a2c"},
 ]
 
 [[package]]
@@ -3192,22 +3175,22 @@ use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"]
 
 [[package]]
 name = "rerun-sdk"
-version = "0.15.1"
+version = "0.16.0"
 description = "The Rerun Logging SDK"
 optional = false
 python-versions = "<3.13,>=3.8"
 files = [
-    {file = "rerun_sdk-0.15.1-cp38-abi3-macosx_10_12_x86_64.whl", hash = "sha256:be8f4e55c53bd9734bd0b8e91a9765daeb55e56caddc1bacdb358d12121daaa0"},
-    {file = "rerun_sdk-0.15.1-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:e039ed441b6dcd5939e20f0f67fef4ffd54645777574822f48cd6f636efa3756"},
-    {file = "rerun_sdk-0.15.1-cp38-abi3-manylinux_2_31_aarch64.whl", hash = "sha256:5c067ba1c3304a0bb74bd33df8f7145ce7d405c823bfc8709396bbdd672a759e"},
-    {file = "rerun_sdk-0.15.1-cp38-abi3-manylinux_2_31_x86_64.whl", hash = "sha256:e8a96fff6e0c184a59b433430f5f87c96895e4b69dc0e43abb56a0e0737edc35"},
-    {file = "rerun_sdk-0.15.1-cp38-abi3-win_amd64.whl", hash = "sha256:377a888e0cbe06835f376cd160ab322e9935ebd1317384381856236bd4347950"},
+    {file = "rerun_sdk-0.16.0-cp38-abi3-macosx_10_12_x86_64.whl", hash = "sha256:1cc6dc66d089e296f945dc238301889efb61dd6d338b5d00f76981cf7aed0a74"},
+    {file = "rerun_sdk-0.16.0-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:faf231897655e46eb975695df2b0ace07db362d697e697f9a3dff52f81c0dc5d"},
+    {file = "rerun_sdk-0.16.0-cp38-abi3-manylinux_2_31_aarch64.whl", hash = "sha256:860a6394380d3e9b9e48bf34423bd56dda54d5b0158d2ae0e433698659b34198"},
+    {file = "rerun_sdk-0.16.0-cp38-abi3-manylinux_2_31_x86_64.whl", hash = "sha256:5b8d1476f73a3ad1a5d3f21b61c633f3ab62aa80fa0b049f5ad10bf1227681ab"},
+    {file = "rerun_sdk-0.16.0-cp38-abi3-win_amd64.whl", hash = "sha256:aff0051a263b8c3067243c0126d319845baf4fe640899f04aeef7daf151f35e4"},
 ]
 
 [package.dependencies]
 attrs = ">=23.1.0"
 numpy = ">=1.23,<2"
-pillow = "*"
+pillow = ">=8.0.0"
 pyarrow = ">=14.0.2"
 typing-extensions = ">=4.5"
 
@@ -3423,13 +3406,13 @@ test = ["array-api-strict", "asv", "gmpy2", "hypothesis (>=6.30)", "mpmath", "po
 
 [[package]]
 name = "sentry-sdk"
-version = "2.1.1"
+version = "2.2.0"
 description = "Python client for Sentry (https://sentry.io)"
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "sentry_sdk-2.1.1-py2.py3-none-any.whl", hash = "sha256:99aeb78fb76771513bd3b2829d12613130152620768d00cd3e45ac00cb17950f"},
-    {file = "sentry_sdk-2.1.1.tar.gz", hash = "sha256:95d8c0bb41c8b0bc37ab202c2c4a295bb84398ee05f4cdce55051cd75b926ec1"},
+    {file = "sentry_sdk-2.2.0-py2.py3-none-any.whl", hash = "sha256:674f58da37835ea7447fe0e34c57b4a4277fad558b0a7cb4a6c83bcb263086be"},
+    {file = "sentry_sdk-2.2.0.tar.gz", hash = "sha256:70eca103cf4c6302365a9d7cf522e7ed7720828910eb23d43ada8e50d1ecda9d"},
 ]
 
 [package.dependencies]
@@ -3921,13 +3904,13 @@ zstd = ["zstandard (>=0.18.0)"]
 
 [[package]]
 name = "virtualenv"
-version = "20.26.1"
+version = "20.26.2"
 description = "Virtual Python Environment builder"
 optional = true
 python-versions = ">=3.7"
 files = [
-    {file = "virtualenv-20.26.1-py3-none-any.whl", hash = "sha256:7aa9982a728ae5892558bff6a2839c00b9ed145523ece2274fad6f414690ae75"},
-    {file = "virtualenv-20.26.1.tar.gz", hash = "sha256:604bfdceaeece392802e6ae48e69cec49168b9c5f4a44e483963f9242eb0e78b"},
+    {file = "virtualenv-20.26.2-py3-none-any.whl", hash = "sha256:a624db5e94f01ad993d476b9ee5346fdf7b9de43ccaee0e0197012dc838a0e9b"},
+    {file = "virtualenv-20.26.2.tar.gz", hash = "sha256:82bf0f4eebbb78d36ddaee0283d43fe5736b53880b8a8cdcd37390a07ac3741c"},
 ]
 
 [package.dependencies]
@@ -4203,13 +4186,13 @@ multidict = ">=4.0"
 
 [[package]]
 name = "zarr"
-version = "2.18.0"
+version = "2.18.1"
 description = "An implementation of chunked, compressed, N-dimensional arrays for Python"
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "zarr-2.18.0-py3-none-any.whl", hash = "sha256:7f8532b6a3f50f22e809e130e09353637ec8b5bb5e95a5a0bfaae91f63978b5d"},
-    {file = "zarr-2.18.0.tar.gz", hash = "sha256:c3b7d2c85b8a42b0ad0ad268a36fb6886ca852098358c125c6b126a417e0a598"},
+    {file = "zarr-2.18.1-py3-none-any.whl", hash = "sha256:a1770d194eec4ec0a41a01295a6f724e1c3471d704d3aca906d3b3a7f8830245"},
+    {file = "zarr-2.18.1.tar.gz", hash = "sha256:28c360ed123e606c425a694a83300227a907cb86a995fc9eef620ecafbe5f92d"},
 ]
 
 [package.dependencies]
@@ -4224,18 +4207,18 @@ jupyter = ["ipytree (>=0.2.2)", "ipywidgets (>=8.0.0)", "notebook"]
 
 [[package]]
 name = "zipp"
-version = "3.18.1"
+version = "3.18.2"
 description = "Backport of pathlib-compatible object wrapper for zip files"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "zipp-3.18.1-py3-none-any.whl", hash = "sha256:206f5a15f2af3dbaee80769fb7dc6f249695e940acca08dfb2a4769fe61e538b"},
-    {file = "zipp-3.18.1.tar.gz", hash = "sha256:2884ed22e7d8961de1c9a05142eb69a247f120291bc0206a00a7642f09b5b715"},
+    {file = "zipp-3.18.2-py3-none-any.whl", hash = "sha256:dce197b859eb796242b0622af1b8beb0a722d52aa2f57133ead08edd5bf5374e"},
+    {file = "zipp-3.18.2.tar.gz", hash = "sha256:6278d9ddbcfb1f1089a88fde84481528b07b0e10474e09dcfe53dad4069fa059"},
 ]
 
 [package.extras]
 docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
+testing = ["big-O", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
 
 [extras]
 aloha = ["gym-aloha"]
@@ -4248,4 +4231,4 @@ xarm = ["gym-xarm"]
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.10,<3.13"
-content-hash = "e4834d67df32c8c617c259b0e59bb33ddaccde08fe940d771e74046cbffe3399"
+content-hash = "c3044329cfad91ffd91b411e85f16d8dfdcdfd7b9186d38fff5e18f4ee647e7b"
diff --git a/pyproject.toml b/pyproject.toml
index f043c9dea..1683b9fd9 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -41,7 +41,7 @@ numba = ">=0.59.0"
 torch = "^2.2.1"
 opencv-python = ">=4.9.0"
 diffusers = "^0.27.2"
-torchvision = ">=0.18.0"
+torchvision = ">=0.17.1"
 h5py = ">=3.10.0"
 huggingface-hub = {extras = ["hf-transfer"], version = "^0.23.0"}
 gymnasium = ">=0.29.1"