diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index ce2f78fc4..8abab28d8 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -73,7 +73,7 @@ jobs:
           enable-cache: true
       - name: Install dependencies
         run: |
-          uv sync \
+          uv sync --extra unirl \
             --no-install-package torch \
             --no-install-package nvidia-cublas-cu12 \
             --no-install-package nvidia-cuda-cupti-cu12 \
@@ -109,7 +109,7 @@ jobs:
           enable-cache: true
       - name: Install dependencies
         run: |
-          uv sync \
+          uv sync --extra unirl \
             --no-install-package torch \
             --no-install-package nvidia-cublas-cu12 \
             --no-install-package nvidia-cuda-cupti-cu12 \
@@ -228,7 +228,7 @@ jobs:
         run: sudo apt-get update && sudo apt-get install -y libwayland-client0
       - name: Install dependencies
         run: |
-          uv sync --extra mujoco --extra mjwarp \
+          uv sync --extra mujoco --extra mjwarp --extra unirl \
             --no-install-package torch \
             --no-install-package nvidia-cublas-cu12 \
             --no-install-package nvidia-cuda-cupti-cu12 \
diff --git a/.github/workflows/tensor-runtime-ci.yml b/.github/workflows/tensor-runtime-ci.yml
index d30a5c9bf..e479c3adb 100644
--- a/.github/workflows/tensor-runtime-ci.yml
+++ b/.github/workflows/tensor-runtime-ci.yml
@@ -43,7 +43,7 @@ jobs:
           python-version: "3.11"
       - name: Install CPU runtime
         run: |
-          uv sync --extra mujoco \
+          uv sync --extra mujoco --extra unirl \
             --no-install-package torch \
             --no-install-package nvidia-cublas-cu12 \
             --no-install-package nvidia-cuda-cupti-cu12 \
@@ -89,7 +89,7 @@ jobs:
           enable-cache: false
           python-version: "3.11"
       - name: Install tensor runtime
-        run: uv sync --extra mujoco --extra mjwarp --extra newton --extra motrix
+        run: uv sync --extra mujoco --extra mjwarp --extra newton --extra motrix --extra unirl
       - name: CUDA task contract tests
         run: >
           uv run --no-sync pytest -q
diff --git a/AGENTS.md b/AGENTS.md
index 500105245..414b9b923 100644
--- a/AGENTS.md
+++ b/AGENTS.md
@@ -54,14 +54,15 @@ architecture changes.
 
 - UniLab provides environments and adapters, and now also owns the RL
   algorithm and training-execution stack in `unilab.rl` (merged from the
-  unilab_rl repo @ 3654e4b). Its layers: `contracts` (env injection and
-  observation semantics), `adapters/rsl_rl`, `algos` (APPO/SAC/FlashSAC),
-  `runtime` (distributed/ipc/offpolicy), and `logging`. Internal DAG:
-  `contracts` depends only on type/tensor libraries; `runtime` must not
-  depend on `algos`/`training`/`base`; `algos` must not construct concrete
-  envs; the RL core must not import `base`/`envs`/`tasks`/`managers`/
-  `training`/`scripts`/`unisim`. These boundaries are guarded by
-  `tests/test_library_import_boundary.py`. The PPO path is a direct rsl-rl
+  unilab_rl repo @ 3654e4b). The env-injection contract and observation
+  semantics live in `unilab.base.contracts`; the `unilab.rl` layers are
+  `adapters/rsl_rl`, `algos` (APPO/SAC/FlashSAC), `runtime`
+  (distributed/ipc/offpolicy), and `logging`. Internal DAG: `base.contracts`
+  depends only on type/tensor libraries; `runtime` must not depend on
+  `algos`/`training`/`base`; `algos` must not construct concrete envs; the RL
+  core must not import `base`/`envs`/`tasks`/`managers`/`training`/`scripts`/
+  `unisim` except the `unilab.base.contracts` leaf. These boundaries are
+  guarded by `tests/test_library_import_boundary.py`. The PPO path is a direct rsl-rl
   integration (`unilab.rl.adapters.rsl_rl`: VecEnv adapter and distributed
   helpers; runner and algorithm are upstream rsl-rl). The env factory must
   be a pickleable `EnvFactory` for spawn collectors. The `unilab.rl`,
diff --git a/Makefile b/Makefile
index f57b223fd..0e570ae20 100644
--- a/Makefile
+++ b/Makefile
@@ -1,6 +1,6 @@
 .PHONY: sync
 sync:
-	uv sync --extra mujoco
+	uv sync --extra mujoco --extra unirl
 
 .PHONY: setup
 setup: sync
@@ -14,12 +14,12 @@ install-completion:
 sync-rocm:
 	@cp pyproject.rocm.toml pyproject.toml
 	@if [ -f uv.rocm.lock ]; then cp uv.rocm.lock uv.lock; fi
-	uv sync --extra mujoco
+	uv sync --extra mujoco --extra unirl
 	cp uv.lock uv.rocm.lock
 
 .PHONY: sync-xpu
 sync-xpu:
-	uv sync --extra mujoco --no-install-package torch
+	uv sync --extra mujoco --extra unirl --no-install-package torch
 	uv pip install torch==2.7.0 --torch-backend xpu
 
 .PHONY: format
diff --git a/docs/sphinx/AGENTS.md b/docs/sphinx/AGENTS.md
index 2bd1fcfde..29b5932e4 100644
--- a/docs/sphinx/AGENTS.md
+++ b/docs/sphinx/AGENTS.md
@@ -119,7 +119,7 @@ language-independent absolute path.
    - algorithms and tasks: `src/unilab/conf/`, `src/unilab/scripts/train_*.py`,
      `src/unilab/rl/algos/`
    - env contract: `src/unilab/base/torch_env.py`,
-     `src/unilab/rl/contracts/env.py`
+     `src/unilab/base/contracts/env.py`
    - backend contract: `unisim.backend.base`
    - registry: `src/unilab/base/registry.py`
    - runner/IPC: `src/unilab/rl/runtime/async_runner.py`,
diff --git a/docs/sphinx/source/api_reference/algos/index.md b/docs/sphinx/source/api_reference/algos/index.md
index c19af11fb..e83701f1a 100644
--- a/docs/sphinx/source/api_reference/algos/index.md
+++ b/docs/sphinx/source/api_reference/algos/index.md
@@ -16,7 +16,7 @@ The PPO (RSL-RL) integration lives in `unilab.rl.adapters.rsl_rl`:
 
 UniLab keeps the training *entrypoints* (`src/unilab/scripts/train_*.py`),
 which inject environments into the RL runners through
-`unilab.rl.contracts.env.EnvFactory`; see `src/unilab/base/env_factory.py` for the
+`unilab.base.contracts.env.EnvFactory`; see `src/unilab/base/env_factory.py` for the
 registry-backed adapter.
 
 All trainers conform to a single runner contract — see
diff --git a/docs/sphinx/source/en/1-getting_started/6-migration_1_4_to_1_5.md b/docs/sphinx/source/en/1-getting_started/6-migration_1_4_to_1_5.md
index 50756e17e..1aec82c0e 100644
--- a/docs/sphinx/source/en/1-getting_started/6-migration_1_4_to_1_5.md
+++ b/docs/sphinx/source/en/1-getting_started/6-migration_1_4_to_1_5.md
@@ -28,7 +28,7 @@ the restored form — for example
 | `EventTermCfg.min_step_count_between_reset` | ignored for reset events | per-row trigger filtering restored (1.3.x semantics) |
 | Reset owners | `reset_transaction(reset_mask)` / `reset_committed(reset_mask)` | `reset_transaction(env_ids)` / `reset_committed(env_ids)` |
 | Recorder hooks | `record_pre_reset(reset_mask)` / `record_post_reset(reset_mask)` | `record_pre_reset(env_ids)` / `record_post_reset(env_ids)` |
-| RL env contract | `EnvProtocol.reset(env_indices)` | `EnvProtocol.reset(env_ids)` (see `src/unilab/rl/contracts/env.py`) |
+| RL env contract | `EnvProtocol.reset(env_indices)` | `EnvProtocol.reset(env_ids)` (see `src/unilab/base/contracts/env.py`) |
 
 `env_ids` is a one-dimensional integer tensor of row indices; `None` (and, at
 manager boundaries, a `slice`) selects every row. The restored form matches
diff --git a/docs/sphinx/source/en/3-deployment/3-framework_migration/7-from_unilab_rl.md b/docs/sphinx/source/en/3-deployment/3-framework_migration/7-from_unilab_rl.md
index 1333db598..fcbc30be7 100644
--- a/docs/sphinx/source/en/3-deployment/3-framework_migration/7-from_unilab_rl.md
+++ b/docs/sphinx/source/en/3-deployment/3-framework_migration/7-from_unilab_rl.md
@@ -26,10 +26,10 @@ runtime, and the RL logging stack ship in the base install.
 
 | Old import (`uni_rl.*`) | New import |
 |---|---|
-| `uni_rl.env_contract` | `unilab.rl.contracts.env` |
+| `uni_rl.env_contract` | `unilab.base.contracts.env` |
 | `uni_rl.training_state` | no replacement (`unilab.training.experiment` owns checkpoint save/load) |
-| `uni_rl.utils.observations` | `unilab.rl.contracts.observations` |
-| `uni_rl.algos.common.device` (probe) | `unilab.rl.contracts.probe` |
+| `uni_rl.utils.observations` | `unilab.base.contracts.observations` |
+| `uni_rl.algos.common.device` (probe) | `unilab.base.contracts.probe` |
 | `uni_rl.algos.appo` / `.sac` / `.flash_sac` / `.common` | `unilab.rl.algos.*` (same subpackage names) |
 | `uni_rl.algos.common.collector_timing` | `unilab.rl.runtime.collector_timing` |
 | `uni_rl.ipc.async_runner` | `unilab.rl.runtime.async_runner` |
diff --git a/docs/sphinx/source/zh_CN/1-getting_started/6-migration_1_4_to_1_5.md b/docs/sphinx/source/zh_CN/1-getting_started/6-migration_1_4_to_1_5.md
index 0ee6ef5e9..d290f4037 100644
--- a/docs/sphinx/source/zh_CN/1-getting_started/6-migration_1_4_to_1_5.md
+++ b/docs/sphinx/source/zh_CN/1-getting_started/6-migration_1_4_to_1_5.md
@@ -25,7 +25,7 @@ UniLab 1.5 将公共 reset 契约恢复为 IsaacLab/mjlab 风格的 `env_ids` 
 | `EventTermCfg.min_step_count_between_reset` | reset 事件不生效 | 恢复逐行触发过滤（1.3.x 语义） |
 | reset owner | `reset_transaction(reset_mask)` / `reset_committed(reset_mask)` | `reset_transaction(env_ids)` / `reset_committed(env_ids)` |
 | recorder 钩子 | `record_pre_reset(reset_mask)` / `record_post_reset(reset_mask)` | `record_pre_reset(env_ids)` / `record_post_reset(env_ids)` |
-| RL 环境契约 | `EnvProtocol.reset(env_indices)` | `EnvProtocol.reset(env_ids)`（见 `src/unilab/rl/contracts/env.py`） |
+| RL 环境契约 | `EnvProtocol.reset(env_indices)` | `EnvProtocol.reset(env_ids)`（见 `src/unilab/base/contracts/env.py`） |
 
 `env_ids` 是一维整数行索引张量；`None`（manager 边界还接受 `slice`）表示全部行。
 恢复后的形态与 v1.3.x 公共契约一致，针对 1.3.x 编写的代码无需修改。
diff --git a/docs/sphinx/source/zh_CN/3-deployment/3-framework_migration/7-from_unilab_rl.md b/docs/sphinx/source/zh_CN/3-deployment/3-framework_migration/7-from_unilab_rl.md
index 8f0f8d798..550a6f33a 100644
--- a/docs/sphinx/source/zh_CN/3-deployment/3-framework_migration/7-from_unilab_rl.md
+++ b/docs/sphinx/source/zh_CN/3-deployment/3-framework_migration/7-from_unilab_rl.md
@@ -24,10 +24,10 @@
 
 | 旧 import（`uni_rl.*`） | 新 import |
 |---|---|
-| `uni_rl.env_contract` | `unilab.rl.contracts.env` |
+| `uni_rl.env_contract` | `unilab.base.contracts.env` |
 | `uni_rl.training_state` | 无替代（checkpoint 保存/加载由 `unilab.training.experiment` 负责） |
-| `uni_rl.utils.observations` | `unilab.rl.contracts.observations` |
-| `uni_rl.algos.common.device`（probe） | `unilab.rl.contracts.probe` |
+| `uni_rl.utils.observations` | `unilab.base.contracts.observations` |
+| `uni_rl.algos.common.device`（probe） | `unilab.base.contracts.probe` |
 | `uni_rl.algos.appo` / `.sac` / `.flash_sac` / `.common` | `unilab.rl.algos.*`（子包名不变） |
 | `uni_rl.algos.common.collector_timing` | `unilab.rl.runtime.collector_timing` |
 | `uni_rl.ipc.async_runner` | `unilab.rl.runtime.async_runner` |
diff --git a/pyproject.rocm.toml b/pyproject.rocm.toml
index a6cddcf64..146ab6b21 100644
--- a/pyproject.rocm.toml
+++ b/pyproject.rocm.toml
@@ -32,17 +32,13 @@ dependencies = [
     "etils",
     "hydra-core>=1.3",
     "omegaconf",
-    "tensordict",
-    "rsl-rl-lib>=5.0.0",
     "packaging",
     "mediapy",
-    "tensorboard",
     "setuptools",
     "rich",
     "tqdm",
     "typing-extensions",
     "lark>=1.3.1",
-    "wandb>=0.22.3",
     "onnxruntime<1.20 ; python_version < '3.11'",
     "onnxruntime>=1.20 ; python_version >= '3.11'",
     "huggingface_hub>=0.25",
@@ -76,6 +72,13 @@ motrix = ["unisim-core[motrix]==2.2.0"]
 genesis = ["genesis-world==1.3.3"]
 # Keep the optional tensor-ray extra aligned with pyproject.toml.
 ray = ["uniray[warp]==0.1.0"]
+# Keep the training-stack extra aligned with pyproject.toml.
+unirl = [
+    "tensordict",
+    "rsl-rl-lib>=5.0.0",
+    "tensorboard",
+    "wandb>=0.22.3",
+]
 
 [dependency-groups]
 # The RL stack (APPO/off-policy/multi-GPU) is merged into unilab itself
diff --git a/pyproject.toml b/pyproject.toml
index b9cfede95..4735cf790 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -43,17 +43,13 @@ dependencies = [
     "etils",
     "hydra-core>=1.3",
     "omegaconf",
-    "tensordict",
-    "rsl-rl-lib>=5.0.0",
     "packaging",
     "mediapy",
-    "tensorboard>=2.21.0",
     "setuptools",
     "rich",
     "tqdm",
     "typing-extensions",
     "lark>=1.3.1",
-    "wandb>=0.22.3",
     "onnxruntime<1.20 ; python_version < '3.11'",
     "onnxruntime>=1.20 ; python_version >= '3.11'",
     "huggingface_hub>=0.25",
@@ -117,6 +113,16 @@ superdex = [
 # caster factory. The PyPI distribution is `uniray`; the import namespace is
 # `uni_ray`.
 ray = ["uniray[warp]==0.1.0"]
+# The merged RL/training stack (unilab.rl) needs these optional packages;
+# `pip install unilab` stays a lightweight env without them. Single extra on
+# purpose: APPO/SAC/FlashSAC/off-policy share these; only PPO (rsl-rl) is
+# lighter and does not justify its own extra.
+unirl = [
+    "tensordict",
+    "rsl-rl-lib>=5.0.0",
+    "tensorboard>=2.21.0",
+    "wandb>=0.22.3",
+]
 
 [dependency-groups]
 # The RL stack (APPO/off-policy/multi-GPU) is merged into unilab itself
diff --git a/scripts/benchmark/rl/benchmark_offpolicy_collector_active.py b/scripts/benchmark/rl/benchmark_offpolicy_collector_active.py
index 06b964970..6eb7df2a9 100644
--- a/scripts/benchmark/rl/benchmark_offpolicy_collector_active.py
+++ b/scripts/benchmark/rl/benchmark_offpolicy_collector_active.py
@@ -771,7 +771,7 @@ def _make_env(
     env_cfg_override: dict[str, Any] | None,
 ):
     from unilab.base.config_adapter import create_env
-    from unilab.rl.contracts.observations import get_obs_dims
+    from unilab.base.contracts.observations import get_obs_dims
 
     env = create_env(cfg, num_envs=int(cfg.algo.num_envs), env_cfg_override=env_cfg_override)
     if env.state is None:
@@ -860,7 +860,7 @@ def _run_active_window_case(
     policy_inference_context: TimingStats | None = None,
     policy_inference_context_evidence: dict[str, Any] | None = None,
 ) -> CollectorResult:
-    from unilab.rl.contracts.observations import split_obs_dict
+    from unilab.base.contracts.observations import split_obs_dict
     from unilab.rl.runtime.ipc.replay_buffer import ReplayBuffer
     from unilab.rl.runtime.offpolicy.worker import timeout_bootstrap_mask
 
diff --git a/scripts/benchmark/rl/benchmark_replay_buffer_placement.py b/scripts/benchmark/rl/benchmark_replay_buffer_placement.py
index 12b1df6a6..489032dad 100644
--- a/scripts/benchmark/rl/benchmark_replay_buffer_placement.py
+++ b/scripts/benchmark/rl/benchmark_replay_buffer_placement.py
@@ -312,7 +312,7 @@ def _resolve_targets(
 
 def _resolve_env_shape(cfg: DictConfig, algo: str) -> ReplayShape:
     from unilab.base.config_adapter import EnvConfigAdapter, create_env
-    from unilab.rl.contracts.observations import get_obs_dims
+    from unilab.base.contracts.observations import get_obs_dims
     from unilab.training import ensure_registries
 
     ensure_registries()
diff --git a/scripts/benchmark/rl/benchmark_sac_replay_buffer_sampling.py b/scripts/benchmark/rl/benchmark_sac_replay_buffer_sampling.py
index 302cac01d..7bbb662d4 100644
--- a/scripts/benchmark/rl/benchmark_sac_replay_buffer_sampling.py
+++ b/scripts/benchmark/rl/benchmark_sac_replay_buffer_sampling.py
@@ -255,7 +255,7 @@ def _compose_offpolicy_cfg(task: str = DEFAULT_TASK, sim: str = DEFAULT_SIM) ->
 
 def _resolve_env_shape(cfg: DictConfig) -> ReplayShape:
     from unilab.base.config_adapter import EnvConfigAdapter, create_env
-    from unilab.rl.contracts.observations import get_obs_dims
+    from unilab.base.contracts.observations import get_obs_dims
     from unilab.training import ensure_registries
 
     ensure_registries()
diff --git a/src/unilab/base/__init__.py b/src/unilab/base/__init__.py
index 4eccd6d9b..26a17f7e0 100644
--- a/src/unilab/base/__init__.py
+++ b/src/unilab/base/__init__.py
@@ -1,7 +1,21 @@
-"""Environment registry and base classes."""
+"""Environment registry and base classes.
 
-from unilab.base.registry import ensure_registries
+``ensure_registries`` is re-exported lazily so importing ``unilab.base`` (and
+therefore ``unilab.base.contracts``) does not pull in the registry, the torch
+env, or any backend package. Most callers import the concrete submodule
+directly (``from unilab.base import registry``).
+"""
 
-__all__ = [
-    "ensure_registries",
-]
+from __future__ import annotations
+
+from typing import Any
+
+__all__ = ["ensure_registries"]
+
+
+def __getattr__(name: str) -> Any:
+    if name == "ensure_registries":
+        from unilab.base.registry import ensure_registries
+
+        return ensure_registries
+    raise AttributeError(f"module {__name__!r} has no attribute {name!r}")
diff --git a/src/unilab/base/contracts/__init__.py b/src/unilab/base/contracts/__init__.py
new file mode 100644
index 000000000..4ad083fa0
--- /dev/null
+++ b/src/unilab/base/contracts/__init__.py
@@ -0,0 +1,41 @@
+"""Env injection contracts and observation semantics (single owner).
+
+Cold-path contract definitions only; this subpackage depends on stdlib,
+typing, and Torch types, never on concrete envs, registries, or algorithms.
+"""
+
+from unilab.base.contracts.env import (
+    EnvAlgoCapabilities,
+    EnvAlgoCapabilitiesProtocol,
+    EnvFactory,
+    EnvPlayCapabilitiesProtocol,
+    EnvProtocol,
+    EnvStateProtocol,
+    SupportsAlgoCapabilitiesProtocol,
+    SupportsBackendDiagnosticsProtocol,
+    SupportsCompletionReceiptsProtocol,
+    get_algo_capabilities,
+    get_backend_runtime_diagnostics,
+    get_produces_completion_receipts,
+)
+from unilab.base.contracts.observations import get_obs_dims, split_obs_dict
+from unilab.base.contracts.probe import EnvContractProbe, probe_env_contract
+
+__all__ = [
+    "EnvAlgoCapabilities",
+    "EnvAlgoCapabilitiesProtocol",
+    "EnvContractProbe",
+    "EnvFactory",
+    "EnvPlayCapabilitiesProtocol",
+    "EnvProtocol",
+    "EnvStateProtocol",
+    "SupportsAlgoCapabilitiesProtocol",
+    "SupportsBackendDiagnosticsProtocol",
+    "SupportsCompletionReceiptsProtocol",
+    "get_algo_capabilities",
+    "get_backend_runtime_diagnostics",
+    "get_obs_dims",
+    "get_produces_completion_receipts",
+    "probe_env_contract",
+    "split_obs_dict",
+]
diff --git a/src/unilab/rl/contracts/env.py b/src/unilab/base/contracts/env.py
similarity index 99%
rename from src/unilab/rl/contracts/env.py
rename to src/unilab/base/contracts/env.py
index 099545732..564df966d 100644
--- a/src/unilab/rl/contracts/env.py
+++ b/src/unilab/base/contracts/env.py
@@ -1,4 +1,4 @@
-"""THE tensor-native env contract consumed by ``unilab.rl`` runners.
+"""THE tensor-native env contract consumed by RL runners and collectors.
 
 This layer never constructs environments itself and never imports an env
 registry. Environments are injected by the caller (e.g. UniLab's training
diff --git a/src/unilab/rl/contracts/observations.py b/src/unilab/base/contracts/observations.py
similarity index 85%
rename from src/unilab/rl/contracts/observations.py
rename to src/unilab/base/contracts/observations.py
index bec615e0c..f14a89369 100644
--- a/src/unilab/rl/contracts/observations.py
+++ b/src/unilab/base/contracts/observations.py
@@ -1,7 +1,7 @@
-"""Observation-group helpers for the ``unilab.rl`` env contract.
+"""Observation-group helpers for the env contract.
 
 Generic helpers over the ``obs_groups_spec`` / observation-dict contract
-defined in ``unilab.rl.contracts.env``. Observation values are Torch tensors at
+defined in ``unilab.base.contracts.env``. Observation values are Torch tensors at
 the env boundary (see ``env_contract``); the helpers stay value-agnostic so
 host-side diagnostics with NumPy carriers can reuse them.
 """
diff --git a/src/unilab/rl/contracts/probe.py b/src/unilab/base/contracts/probe.py
similarity index 90%
rename from src/unilab/rl/contracts/probe.py
rename to src/unilab/base/contracts/probe.py
index 788cb7593..a2aa53cc1 100644
--- a/src/unilab/rl/contracts/probe.py
+++ b/src/unilab/base/contracts/probe.py
@@ -6,8 +6,8 @@
 from dataclasses import dataclass
 from typing import Any
 
-from unilab.rl.contracts.env import EnvFactory, get_produces_completion_receipts
-from unilab.rl.contracts.observations import get_obs_dims as _get_obs_dims
+from unilab.base.contracts.env import EnvFactory, get_produces_completion_receipts
+from unilab.base.contracts.observations import get_obs_dims as _get_obs_dims
 
 
 @dataclass(frozen=True)
diff --git a/src/unilab/base/env_factory.py b/src/unilab/base/env_factory.py
index 0ba8ff6ab..4cd82104f 100644
--- a/src/unilab/base/env_factory.py
+++ b/src/unilab/base/env_factory.py
@@ -1,12 +1,11 @@
 """Picklable ``EnvFactory`` adapters bridging the RL env contract to the
 UniLab env registry.
 
-RL runners and collectors (``unilab.rl``) never construct environments
-themselves; the caller injects an ``EnvFactory`` (see
-``unilab.rl.contracts.env``). Because collectors run in ``multiprocessing``
-spawn subprocesses, the factory must be picklable by reference — the adapters
-below are module-level functions bound with ``functools.partial`` (never
-closures or lambdas).
+RL runners and collectors never construct environments themselves; the caller
+injects an ``EnvFactory`` (see ``unilab.base.contracts.env``). Because
+collectors run in ``multiprocessing`` spawn subprocesses, the factory must be
+picklable by reference — the adapters below are module-level functions bound
+with ``functools.partial`` (never closures or lambdas).
 """
 
 from __future__ import annotations
@@ -20,7 +19,7 @@
 if TYPE_CHECKING:
     # ``EnvFactory``/``EnvProtocol`` are typing-only Protocols, so the import
     # is annotation-only and must not run at module import time.
-    from unilab.rl.contracts.env import EnvFactory, EnvProtocol
+    from unilab.base.contracts.env import EnvFactory, EnvProtocol
 
 
 def make_registry_env(
diff --git a/src/unilab/cli.py b/src/unilab/cli.py
index 20b04ddb6..7759915ea 100644
--- a/src/unilab/cli.py
+++ b/src/unilab/cli.py
@@ -61,6 +61,12 @@ class Route:
 
 
 def package_root() -> Path:
+    """Return the source-checkout package root (``src/unilab``).
+
+    Internal: this path only exists in a source checkout, not an installed
+    wheel. Downstream packages must not rely on it; register tasks through the
+    ``unilab.tasks`` entry-point contract instead.
+    """
     return Path(__file__).resolve().parent
 
 
diff --git a/src/unilab/envs/manager_based_rl_env.py b/src/unilab/envs/manager_based_rl_env.py
index 4262549d4..406086b97 100644
--- a/src/unilab/envs/manager_based_rl_env.py
+++ b/src/unilab/envs/manager_based_rl_env.py
@@ -32,6 +32,7 @@
     CONFIG_MAPPING_POLICY_KEY,
     MANAGER_TERM_MAPPING_POLICY,
 )
+from unilab.base.contracts.env import EnvAlgoCapabilities
 from unilab.base.cpu_runtime import apply_cpu_confinement
 from unilab.base.entity import EntityCfg, EntityScene, SceneTensorReadPlan, SceneTensorReadSpec
 from unilab.base.reset_selectors import ResetMaskBuffer, resolve_reset_env_ids
@@ -74,7 +75,6 @@
     TerminationTermCfg,
 )
 from unilab.managers.scene_entity_config import SceneEntityCfg
-from unilab.rl.contracts.env import EnvAlgoCapabilities
 
 
 def _finite_real(value: Any) -> bool:
diff --git a/src/unilab/rl/algos/appo/runner.py b/src/unilab/rl/algos/appo/runner.py
index 93e9a4a4d..1b03b8e8f 100644
--- a/src/unilab/rl/algos/appo/runner.py
+++ b/src/unilab/rl/algos/appo/runner.py
@@ -16,11 +16,11 @@
 import torch
 from rsl_rl.utils import resolve_callable
 
+from unilab.base.contracts.env import EnvFactory
+from unilab.base.contracts.observations import get_obs_dims
 from unilab.rl.algos.appo.learner import APPOLearner
 from unilab.rl.algos.appo.staging import TensorRolloutStagingPool
 from unilab.rl.algos.appo.worker import appo_collector_fn
-from unilab.rl.contracts.env import EnvFactory
-from unilab.rl.contracts.observations import get_obs_dims
 from unilab.rl.logging import OffPolicyLogger
 from unilab.rl.logging.metrics_drain import RewardComponentWindow, drain_collector_metrics
 from unilab.rl.runtime.device import get_default_device
diff --git a/src/unilab/rl/algos/appo/worker.py b/src/unilab/rl/algos/appo/worker.py
index 9a356f0ae..2348185d2 100644
--- a/src/unilab/rl/algos/appo/worker.py
+++ b/src/unilab/rl/algos/appo/worker.py
@@ -134,7 +134,7 @@ def appo_collector_fn(
         critic_weight_param_shapes, create=False, shm_name=critic_weight_sync_name
     )
 
-    # Create environment through the injected factory (see unilab.rl.contracts.env).
+    # Create environment through the injected factory (see unilab.base.contracts.env).
     # Diagnostics construction is likewise injected; the training assembly layer
     # owns the tensor-native guard implementation.
     env = env_factory(num_envs, env_cfg_override)
diff --git a/src/unilab/rl/algos/flash_sac/double_buffer.py b/src/unilab/rl/algos/flash_sac/double_buffer.py
index 5776c8be8..54b9f5cbe 100644
--- a/src/unilab/rl/algos/flash_sac/double_buffer.py
+++ b/src/unilab/rl/algos/flash_sac/double_buffer.py
@@ -8,10 +8,10 @@
 
 from omegaconf import DictConfig
 
+from unilab.base.contracts.env import EnvFactory
+from unilab.base.contracts.observations import get_obs_dims
 from unilab.rl.algos.flash_sac.learner import FlashSACLearner
 from unilab.rl.algos.flash_sac.replay import AgeBiasedReplayPipeline
-from unilab.rl.contracts.env import EnvFactory
-from unilab.rl.contracts.observations import get_obs_dims
 from unilab.rl.runtime.device import get_default_device
 from unilab.rl.runtime.ipc.replay_pipelines.device import require_offpolicy_replay_device
 from unilab.rl.runtime.offpolicy.double_buffer_runner import (
diff --git a/src/unilab/rl/algos/sac/double_buffer.py b/src/unilab/rl/algos/sac/double_buffer.py
index e73e63663..90a3156a4 100644
--- a/src/unilab/rl/algos/sac/double_buffer.py
+++ b/src/unilab/rl/algos/sac/double_buffer.py
@@ -7,9 +7,9 @@
 
 from omegaconf import DictConfig, OmegaConf
 
+from unilab.base.contracts.env import EnvFactory
+from unilab.base.contracts.observations import get_obs_dims
 from unilab.rl.algos.sac.learner import SACLearner
-from unilab.rl.contracts.env import EnvFactory
-from unilab.rl.contracts.observations import get_obs_dims
 from unilab.rl.runtime.ipc.replay_pipelines.device import (
     require_offpolicy_replay_device,
 )
diff --git a/src/unilab/rl/contracts/__init__.py b/src/unilab/rl/contracts/__init__.py
deleted file mode 100644
index 96ec928fe..000000000
--- a/src/unilab/rl/contracts/__init__.py
+++ /dev/null
@@ -1,5 +0,0 @@
-"""Env injection contracts and observation semantics.
-
-Cold-path contract definitions only; this subpackage depends on stdlib,
-typing, and Torch types, never on concrete envs, registries, or algorithms.
-"""
diff --git a/src/unilab/rl/runtime/__init__.py b/src/unilab/rl/runtime/__init__.py
index 3db22045d..99fac152e 100644
--- a/src/unilab/rl/runtime/__init__.py
+++ b/src/unilab/rl/runtime/__init__.py
@@ -1,6 +1,6 @@
 """RL training execution runtime: distributed launch, IPC, off-policy runners.
 
-This layer may depend on ``unilab.rl.contracts`` and ``unilab.rl.logging``;
+This layer may depend on ``unilab.base.contracts`` and ``unilab.rl.logging``;
 it must not depend on concrete algorithms, ``unilab.training``,
 ``unilab.base``, or env construction.
 """
diff --git a/src/unilab/rl/runtime/offpolicy/runner.py b/src/unilab/rl/runtime/offpolicy/runner.py
index b360abc39..902c0c932 100644
--- a/src/unilab/rl/runtime/offpolicy/runner.py
+++ b/src/unilab/rl/runtime/offpolicy/runner.py
@@ -5,8 +5,8 @@
 from collections.abc import Iterable
 from typing import Any, Callable
 
-from unilab.rl.contracts.env import EnvFactory
-from unilab.rl.contracts.probe import probe_env_contract
+from unilab.base.contracts.env import EnvFactory
+from unilab.base.contracts.probe import probe_env_contract
 from unilab.rl.logging import OffPolicyLogger
 from unilab.rl.logging.metrics_drain import RewardComponentWindow, drain_collector_metrics
 from unilab.rl.runtime.async_runner import AsyncRunner
diff --git a/src/unilab/rl/runtime/offpolicy/worker.py b/src/unilab/rl/runtime/offpolicy/worker.py
index addd80f97..535119323 100644
--- a/src/unilab/rl/runtime/offpolicy/worker.py
+++ b/src/unilab/rl/runtime/offpolicy/worker.py
@@ -8,12 +8,12 @@
 
 import torch
 
-from unilab.rl.contracts.env import (
+from unilab.base.contracts.env import (
     EnvFactory,
     get_algo_capabilities,
     get_backend_runtime_diagnostics,
 )
-from unilab.rl.contracts.observations import split_obs_dict
+from unilab.base.contracts.observations import split_obs_dict
 from unilab.rl.runtime.collector_timing import extract_env_step_breakdown_timing_ms
 from unilab.rl.runtime.offpolicy.actor_adapter import (
     get_offpolicy_actor_adapter,
@@ -368,7 +368,7 @@ def _run_collector(
         trace_recorder = TraceRecorder("offpolicy_collector")
 
     # Initialize environment through the injected factory (see
-    # ``unilab.rl.contracts.env``); this layer never touches an env registry.
+    # ``unilab.base.contracts.env``); this layer never touches an env registry.
     env = env_factory(num_envs, env_cfg_override)
     requested_transport = inference_transport
     if requested_transport not in {item.value for item in InferenceTransport}:
diff --git a/src/unilab/scripts/train_offpolicy.py b/src/unilab/scripts/train_offpolicy.py
index f02029a93..1cf1f2241 100644
--- a/src/unilab/scripts/train_offpolicy.py
+++ b/src/unilab/scripts/train_offpolicy.py
@@ -262,7 +262,12 @@ def build_offpolicy_play_env_cfg_override(algo_name: str, cfg: DictConfig) -> di
 
 
 def build_runner(algo_name: str, cfg: DictConfig, log_dir: str | None = None):
-    """Build algorithm runner from unified Hydra config."""
+    """Build algorithm runner from unified Hydra config.
+
+    Internal script entry point (``unilab.scripts.train_offpolicy``); not a
+    public API. Drive training through the ``train``/``eval`` CLI entry points
+    rather than importing this function from a downstream package.
+    """
     # Cold-path DP CPU partition: each rank's collector owns one contiguous
     # CPU block (single rank keeps the legacy unset behavior). The ids only
     # reach the collector env override — never the num_envs=1 probe envs,
diff --git a/src/unilab/visualization/interactive_playback.py b/src/unilab/visualization/interactive_playback.py
index 1843e2c17..d04f56864 100644
--- a/src/unilab/visualization/interactive_playback.py
+++ b/src/unilab/visualization/interactive_playback.py
@@ -615,7 +615,7 @@ def _build_appo_actor(
     from rsl_rl.utils import resolve_callable
     from tensordict import TensorDict
 
-    from unilab.rl.contracts.observations import get_obs_dims
+    from unilab.base.contracts.observations import get_obs_dims
 
     action_shape = env.action_space.shape
     if action_shape is None:
@@ -751,14 +751,14 @@ def extract_reset_obs(reset_result):
 
 
 def resolve_play_obs_dims(obs_groups_spec: dict[str, int]) -> tuple[int, int]:
-    from unilab.rl.contracts.observations import get_obs_dims
+    from unilab.base.contracts.observations import get_obs_dims
 
     obs_dim, critic_obs_dim = get_obs_dims(obs_groups_spec)
     return int(obs_dim), int(critic_obs_dim)
 
 
 def extract_play_obs(obs_dict: dict[str, torch.Tensor]) -> torch.Tensor:
-    from unilab.rl.contracts.observations import split_obs_dict
+    from unilab.base.contracts.observations import split_obs_dict
 
     obs_out, _ = split_obs_dict(obs_dict)
     return obs_out
diff --git a/tests/rl/contracts/__init__.py b/tests/base/contracts/__init__.py
similarity index 100%
rename from tests/rl/contracts/__init__.py
rename to tests/base/contracts/__init__.py
diff --git a/tests/rl/contracts/test_env.py b/tests/base/contracts/test_env.py
similarity index 99%
rename from tests/rl/contracts/test_env.py
rename to tests/base/contracts/test_env.py
index 81b44856e..8ea3860c2 100644
--- a/tests/rl/contracts/test_env.py
+++ b/tests/base/contracts/test_env.py
@@ -7,7 +7,7 @@
 import torch
 
 from tests.rl._fakes import FakeVecEnv, _FakePlayCapabilities, _FakeSpace
-from unilab.rl.contracts.env import (
+from unilab.base.contracts.env import (
     EnvAlgoCapabilities,
     EnvAlgoCapabilitiesProtocol,
     EnvProtocol,
diff --git a/tests/rl/contracts/test_observations.py b/tests/base/contracts/test_observations.py
similarity index 91%
rename from tests/rl/contracts/test_observations.py
rename to tests/base/contracts/test_observations.py
index 93a9a36f9..fc4d2abba 100644
--- a/tests/rl/contracts/test_observations.py
+++ b/tests/base/contracts/test_observations.py
@@ -1,4 +1,4 @@
-"""Tests for unilab.rl.contracts.observations.
+"""Tests for unilab.base.contracts.observations.
 
 Ported from unilab_rl ``tests/utils/test_observations.py`` (itself adapted from
 UniLab's pre-split ``tests/utils/test_obs_utils.py``).
@@ -8,7 +8,7 @@
 
 import numpy as np
 
-from unilab.rl.contracts.observations import get_obs_dims, split_obs_dict
+from unilab.base.contracts.observations import get_obs_dims, split_obs_dict
 
 
 class TestSplitObsDict:
diff --git a/tests/envs/test_manager_based_rl_env.py b/tests/envs/test_manager_based_rl_env.py
index 460126b58..739d730b6 100644
--- a/tests/envs/test_manager_based_rl_env.py
+++ b/tests/envs/test_manager_based_rl_env.py
@@ -30,6 +30,12 @@
 from unilab.base.backend_factory import create_backend, env_backend_kwargs
 from unilab.base.backend_timing import UPDATE_STATE_DETAIL_TIMING_KEYS
 from unilab.base.base import EnvPlayCapabilities
+from unilab.base.contracts.env import (
+    EnvAlgoCapabilities,
+    EnvPlayCapabilitiesProtocol,
+    EnvProtocol,
+    EnvStateProtocol,
+)
 from unilab.base.entity import EntityCfg
 from unilab.base.scene import SceneCfg
 from unilab.base.torch_env import TorchEnv, TorchEnvState
@@ -61,12 +67,6 @@
 )
 from unilab.managers.rng import ManagerRng
 from unilab.managers.scene_entity_config import SceneEntityCfg
-from unilab.rl.contracts.env import (
-    EnvAlgoCapabilities,
-    EnvPlayCapabilitiesProtocol,
-    EnvProtocol,
-    EnvStateProtocol,
-)
 
 
 class _FakeBackend:
diff --git a/tests/rl/runtime/offpolicy/test_runner_unit.py b/tests/rl/runtime/offpolicy/test_runner_unit.py
index 87049fcf7..cc71954c9 100644
--- a/tests/rl/runtime/offpolicy/test_runner_unit.py
+++ b/tests/rl/runtime/offpolicy/test_runner_unit.py
@@ -27,7 +27,7 @@
 
 import unilab.rl.runtime.offpolicy.double_buffer_runner as device_runner_module
 import unilab.rl.runtime.offpolicy.runner as runner_module
-from unilab.rl.contracts.probe import EnvContractProbe
+from unilab.base.contracts.probe import EnvContractProbe
 from unilab.rl.logging.metric_schema import METRIC_SCHEMA_VERSION, normalize_metric_map
 from unilab.rl.logging.metrics_drain import RewardComponentWindow
 from unilab.rl.logging.runtime_manifest_schema import (
diff --git a/tests/test_library_import_boundary.py b/tests/test_library_import_boundary.py
index af031c19f..7259bdf4a 100644
--- a/tests/test_library_import_boundary.py
+++ b/tests/test_library_import_boundary.py
@@ -4,7 +4,7 @@
 back into ``src/unilab/rl/``; it was the standalone unilab-rl package before
 issue #2372. This module guards the merged internal DAG:
 
-- ``unilab.rl.contracts`` is a leaf: stdlib/Torch types only, never unilab
+- ``unilab.base.contracts`` is a leaf: stdlib/Torch types only, never unilab
   runtime/training/env layers or unisim.
 - ``unilab.rl.logging`` only depends on itself.
 - ``unilab.rl.runtime`` may use contracts/logging and the leaf shims
@@ -39,8 +39,8 @@
 # Observation-contract symbols have exactly one owner module; everywhere else
 # they must be imported, not re-defined.
 _SINGLE_OWNER_SYMBOLS = {
-    "split_obs_dict": _RL_PACKAGE / "contracts" / "observations.py",
-    "get_obs_dims": _RL_PACKAGE / "contracts" / "observations.py",
+    "split_obs_dict": _LIBRARY_PACKAGE / "base" / "contracts" / "observations.py",
+    "get_obs_dims": _LIBRARY_PACKAGE / "base" / "contracts" / "observations.py",
     "get_default_device": _LIBRARY_PACKAGE / "utils" / "device.py",
     "TrainingSeedInfo": _LIBRARY_PACKAGE / "training" / "seed.py",
     "resolve_training_seed": _LIBRARY_PACKAGE / "training" / "seed.py",
@@ -70,12 +70,17 @@ def _display_path(path: Path) -> str:
         return path.as_posix()
 
 
-def _layer_violations(root: Path, forbidden: tuple[str, ...]) -> list[tuple[str, str]]:
+def _layer_violations(
+    root: Path,
+    forbidden: tuple[str, ...],
+    allowed: tuple[str, ...] = (),
+) -> list[tuple[str, str]]:
     return [
         (_display_path(path), module)
         for path in sorted(root.rglob("*.py"))
         for module in sorted(_imports(path))
         if any(module == layer or module.startswith(f"{layer}.") for layer in forbidden)
+        and not any(module == ok or module.startswith(f"{ok}.") for ok in allowed)
     ]
 
 
@@ -149,17 +154,6 @@ def test_utils_does_not_import_higher_layers() -> None:
 # Internal DAG for the merged RL subsystem. Each entry lists the import roots
 # forbidden for ``src/unilab/rl/<layer>``.
 _RL_DAG_FORBIDDEN: dict[str, tuple[str, ...]] = {
-    "contracts": (
-        "unilab.base",
-        "unilab.envs",
-        "unilab.tasks",
-        "unilab.managers",
-        "unilab.training",
-        "unilab.scripts",
-        "unilab.rl.algos",
-        "unilab.rl.runtime",
-        "unisim",
-    ),
     "runtime": (
         "unilab.rl.algos",
         "unilab.training",
@@ -192,9 +186,17 @@ def test_utils_does_not_import_higher_layers() -> None:
 }
 
 
+# The env-injection contract is owned by ``unilab.base.contracts`` but consumed
+# by the RL algorithms/runtime; it is the one ``unilab.base`` leaf allowed
+# across the RL-internal DAG boundary.
+_RL_CONTRACT_LEAF = ("unilab.base.contracts",)
+
+
 @pytest.mark.parametrize("layer", sorted(_RL_DAG_FORBIDDEN))
 def test_rl_layer_respects_internal_dag(layer: str) -> None:
-    violations = _layer_violations(_RL_PACKAGE / layer, _RL_DAG_FORBIDDEN[layer])
+    violations = _layer_violations(
+        _RL_PACKAGE / layer, _RL_DAG_FORBIDDEN[layer], allowed=_RL_CONTRACT_LEAF
+    )
 
     assert violations == [], f"src/unilab/rl/{layer} violates the RL-internal DAG: {violations}"
 
@@ -303,6 +305,17 @@ def test_rl_package_import_stays_lightweight() -> None:
     )
 
 
+def test_unilab_import_stays_lightweight() -> None:
+    """``import unilab`` must not pull in the optional training stack."""
+    _run_isolated(
+        "import sys\n"
+        "import unilab\n"
+        "heavy = [m for m in sys.modules if m.split('.')[0] in "
+        "('tensordict', 'rsl_rl', 'wandb', 'tensorboard')]\n"
+        "assert not heavy, f'unilab pulled in heavy modules: {heavy}'\n"
+    )
+
+
 def test_distributed_context_import_closure_stays_leaf() -> None:
     """The DP topology context must not need Torch or env/training layers."""
     _run_isolated(
@@ -321,9 +334,29 @@ def test_contracts_import_without_simulator_packages() -> None:
     """Contracts modules must not require unisim or any simulator backend."""
     _run_isolated(
         "import sys\n"
-        "import unilab.rl.contracts.env\n"
-        "import unilab.rl.contracts.observations\n"
-        "import unilab.rl.contracts.probe\n"
+        "import unilab.base.contracts.env\n"
+        "import unilab.base.contracts.observations\n"
+        "import unilab.base.contracts.probe\n"
         "bad = [m for m in sys.modules if m == 'unisim' or m.startswith('unisim.')]\n"
         "assert not bad, f'contracts pulled in simulator packages: {bad}'\n"
     )
+
+
+def test_base_contracts_does_not_import_rl_or_higher_layers() -> None:
+    violations = _layer_violations(
+        _LIBRARY_PACKAGE / "base" / "contracts",
+        (
+            "unilab.rl",
+            "unilab.envs",
+            "unilab.tasks",
+            "unilab.managers",
+            "unilab.training",
+            "unilab.visualization",
+            "unilab.scripts",
+            "unisim",
+        ),
+    )
+
+    assert violations == [], (
+        f"src/unilab/base/contracts must stay a leaf (stdlib/Torch types only): {violations}"
+    )
diff --git a/uv.lock b/uv.lock
index 7c6e7abc6..e1be353f4 100644
--- a/uv.lock
+++ b/uv.lock
@@ -5176,10 +5176,7 @@ dependencies = [
     { name = "packaging" },
     { name = "prettytable" },
     { name = "rich" },
-    { name = "rsl-rl-lib" },
     { name = "setuptools" },
-    { name = "tensorboard" },
-    { name = "tensordict" },
     { name = "torch", version = "2.14.0", source = { registry = "https://pypi.org/simple" }, marker = "sys_platform != 'linux' and sys_platform != 'win32'" },
     { name = "torch", version = "2.14.0+cu130", source = { registry = "https://download-r2.pytorch.org/whl/cu130" }, marker = "sys_platform == 'linux' or sys_platform == 'win32'" },
     { name = "tqdm" },
@@ -5187,7 +5184,6 @@ dependencies = [
     { name = "typing-extensions" },
     { name = "unisim-core" },
     { name = "viser" },
-    { name = "wandb" },
 ]
 
 [package.optional-dependencies]
@@ -5223,6 +5219,12 @@ ray = [
 superdex = [
     { name = "unisim-core", extra = ["superdex"], marker = "python_full_version >= '3.12' and platform_machine == 'x86_64' and sys_platform == 'linux'" },
 ]
+unirl = [
+    { name = "rsl-rl-lib" },
+    { name = "tensorboard" },
+    { name = "tensordict" },
+    { name = "wandb" },
+]
 
 [package.dev-dependencies]
 dev = [
@@ -5262,10 +5264,10 @@ requires-dist = [
     { name = "prettytable", specifier = ">=3.10" },
     { name = "pyglet", marker = "extra == 'newton'", specifier = ">=2.1.6,<3" },
     { name = "rich" },
-    { name = "rsl-rl-lib", specifier = ">=5.0.0" },
+    { name = "rsl-rl-lib", marker = "extra == 'unirl'", specifier = ">=5.0.0" },
     { name = "setuptools" },
-    { name = "tensorboard", specifier = ">=2.21.0" },
-    { name = "tensordict" },
+    { name = "tensorboard", marker = "extra == 'unirl'", specifier = ">=2.21.0" },
+    { name = "tensordict", marker = "extra == 'unirl'" },
     { name = "torch", marker = "sys_platform != 'linux' and sys_platform != 'win32'", specifier = ">=2.9,<2.15" },
     { name = "torch", marker = "sys_platform == 'linux' or sys_platform == 'win32'", specifier = ">=2.9,<2.15", index = "https://download-r2.pytorch.org/whl/cu130" },
     { name = "tqdm" },
@@ -5276,11 +5278,11 @@ requires-dist = [
     { name = "unisim-core", extras = ["motrix"], marker = "extra == 'motrix'", specifier = "==2.2.0" },
     { name = "unisim-core", extras = ["superdex"], marker = "python_full_version >= '3.12' and platform_machine == 'x86_64' and sys_platform == 'linux' and extra == 'superdex'", specifier = "==2.2.0" },
     { name = "viser", specifier = ">=1.0.26" },
-    { name = "wandb", specifier = ">=0.22.3" },
+    { name = "wandb", marker = "extra == 'unirl'", specifier = ">=0.22.3" },
     { name = "warp-lang", marker = "extra == 'mjwarp'", specifier = "==1.16.0" },
     { name = "warp-lang", marker = "extra == 'newton'", specifier = "==1.16.0" },
 ]
-provides-extras = ["drake", "mujoco", "mjwarp", "newton", "motrix", "genesis", "superdex", "ray"]
+provides-extras = ["drake", "mujoco", "mjwarp", "newton", "motrix", "genesis", "superdex", "ray", "unirl"]
 
 [package.metadata.requires-dev]
 dev = [
diff --git a/uv.rocm.lock b/uv.rocm.lock
index a5ab3282a..ae4a17075 100644
--- a/uv.rocm.lock
+++ b/uv.rocm.lock
@@ -3,12 +3,12 @@ revision = 3
 requires-python = ">=3.10, <3.14"
 resolution-markers = [
     "python_full_version >= '3.13' and platform_machine == 'x86_64' and sys_platform == 'linux'",
-    "(python_full_version >= '3.13' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform != 'linux')",
-    "python_full_version >= '3.13' and platform_machine == 's390x'",
     "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'linux'",
+    "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'linux'",
+    "(python_full_version >= '3.13' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform != 'linux')",
     "(python_full_version == '3.12.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform != 'linux')",
+    "python_full_version >= '3.13' and platform_machine == 's390x'",
     "python_full_version == '3.12.*' and platform_machine == 's390x'",
-    "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'linux'",
     "(python_full_version == '3.11.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.11.*' and platform_machine != 's390x' and sys_platform != 'linux')",
     "python_full_version == '3.11.*' and platform_machine == 's390x'",
     "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform == 'linux'",
@@ -130,7 +130,13 @@ name = "av"
 version = "18.1.0"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
+    "python_full_version >= '3.13' and platform_machine == 'x86_64' and sys_platform == 'linux'",
+    "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'linux'",
     "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'linux'",
+    "(python_full_version >= '3.13' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform != 'linux')",
+    "(python_full_version == '3.12.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.12.*' and platform_machine != 's390x' and sys_platform != 'linux')",
+    "python_full_version >= '3.13' and platform_machine == 's390x'",
+    "python_full_version == '3.12.*' and platform_machine == 's390x'",
     "(python_full_version == '3.11.*' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version == '3.11.*' and platform_machine != 's390x' and sys_platform != 'linux')",
     "python_full_version == '3.11.*' and platform_machine == 's390x'",
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@@ -147,31 +153,6 @@ wheels = [
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 ]
 
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-
 [[package]]
 name = "certifi"
 version = "2026.2.25"
@@ -186,8 +167,7 @@ name = "cffi"
 version = "2.1.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "pycparser", version = "3.11", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11' and implementation_name != 'PyPy'" },
-    { name = "pycparser", version = "3.12", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11' and implementation_name != 'PyPy'" },
+    { name = "pycparser", marker = "implementation_name != 'PyPy'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/9e/ef/008a1939e372c06329a3fce4279c02f328488f3526744906eeec3da7ad5f/cffi-2.1.1.tar.gz", hash = "sha256:dd31f52ea1086513bb9df30f8fcee9b8918323ae067a3d5b78bc826a000712be", size = 530807, upload-time = "2026-08-03T21:21:18.939Z" }
 wheels = [
@@ -464,12 +444,12 @@ version = "1.3.3"
 source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
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-    "python_full_version >= '3.13' and platform_machine == 's390x'",
     "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'linux'",
+    "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'linux'",
+    "(python_full_version >= '3.13' and platform_machine != 's390x' and platform_machine != 'x86_64') or (python_full_version >= '3.13' and platform_machine != 's390x' and sys_platform != 'linux')",
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+    "python_full_version >= '3.13' and platform_machine == 's390x'",
     "python_full_version == '3.12.*' and platform_machine == 's390x'",
-    "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'linux'",
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     "python_full_version == '3.11.*' and platform_machine == 's390x'",
 ]
@@ -727,14 +707,6 @@ wheels = [
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 version = "1.3.1"
 source = { registry = "https://pypi.org/simple" }
-resolution-markers = [
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-    "python_full_version == '3.11.*' and platform_machine == 's390x'",
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-    "python_full_version < '3.11' and platform_machine == 's390x'",
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 dependencies = [
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@@ -743,26 +715,6 @@ wheels = [
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 [[package]]
 name = "dill"
 version = "0.4.1"
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 [[package]]
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-    "python_full_version >= '3.13' and platform_machine == 's390x'",
     "python_full_version == '3.12.*' and platform_machine == 'x86_64' and sys_platform == 'linux'",
+    "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'linux'",
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+    "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'linux'",
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-    { name = "tifffile", version = "2026.10.15", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.12'" },
+    { name = "tifffile", version = "2026.8.23", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.12'" },
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@@ -4812,7 +4718,6 @@ dependencies = [
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 [package.optional-dependencies]
@@ -4832,6 +4737,12 @@ mujoco = [
 ray = [
     { name = "uniray", extra = ["warp"] },
 ]
+unirl = [
+    { name = "rsl-rl-lib" },
+    { name = "tensorboard" },
+    { name = "tensordict" },
+    { name = "wandb" },
+]
 
 [package.dev-dependencies]
 dev = [
@@ -4864,10 +4775,10 @@ requires-dist = [
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     { name = "rich" },
-    { name = "rsl-rl-lib", specifier = ">=5.0.0" },
+    { name = "rsl-rl-lib", marker = "extra == 'unirl'", specifier = ">=5.0.0" },
     { name = "setuptools" },
-    { name = "tensorboard" },
-    { name = "tensordict" },
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-    { name = "wandb", specifier = ">=0.22.3" },
+    { name = "wandb", marker = "extra == 'unirl'", specifier = ">=0.22.3" },
 ]
-provides-extras = ["drake", "mujoco", "motrix", "genesis", "ray"]
+provides-extras = ["drake", "mujoco", "motrix", "genesis", "ray", "unirl"]
 
 [package.metadata.requires-dev]
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