diff --git a/poetry.lock b/poetry.lock
index 350a71c1a..2db9d5629 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -14,14 +14,14 @@ files = [
 
 [[package]]
 name = "accelerate"
-version = "1.11.0"
+version = "1.12.0"
 description = "Accelerate"
 optional = false
 python-versions = ">=3.10.0"
 groups = ["nomad"]
 files = [
-    {file = "accelerate-1.11.0-py3-none-any.whl", hash = "sha256:a628fa6beb069b8e549460fc449135d5bd8d73e7a11fd09f0bc9fc4ace7f06f1"},
-    {file = "accelerate-1.11.0.tar.gz", hash = "sha256:bb1caf2597b4cd632b917b5000c591d10730bb024a79746f1ee205bba80bd229"},
+    {file = "accelerate-1.12.0-py3-none-any.whl", hash = "sha256:3e2091cd341423207e2f084a6654b1efcd250dc326f2a37d6dde446e07cabb11"},
+    {file = "accelerate-1.12.0.tar.gz", hash = "sha256:70988c352feb481887077d2ab845125024b2a137a5090d6d7a32b57d03a45df6"},
 ]
 
 [package.dependencies]
@@ -293,24 +293,23 @@ files = [
 
 [[package]]
 name = "anyio"
-version = "4.11.0"
+version = "4.12.0"
 description = "High-level concurrency and networking framework on top of asyncio or Trio"
 optional = false
 python-versions = ">=3.9"
 groups = ["main", "nomad", "perception", "s2s", "simbench"]
 files = [
-    {file = "anyio-4.11.0-py3-none-any.whl", hash = "sha256:0287e96f4d26d4149305414d4e3bc32f0dcd0862365a4bddea19d7a1ec38c4fc"},
-    {file = "anyio-4.11.0.tar.gz", hash = "sha256:82a8d0b81e318cc5ce71a5f1f8b5c4e63619620b63141ef8c995fa0db95a57c4"},
+    {file = "anyio-4.12.0-py3-none-any.whl", hash = "sha256:dad2376a628f98eeca4881fc56cd06affd18f659b17a747d3ff0307ced94b1bb"},
+    {file = "anyio-4.12.0.tar.gz", hash = "sha256:73c693b567b0c55130c104d0b43a9baf3aa6a31fc6110116509f27bf75e21ec0"},
 ]
 
 [package.dependencies]
 exceptiongroup = {version = ">=1.0.2", markers = "python_version < \"3.11\""}
 idna = ">=2.8"
-sniffio = ">=1.1"
 typing_extensions = {version = ">=4.5", markers = "python_version < \"3.13\""}
 
 [package.extras]
-trio = ["trio (>=0.31.0)"]
+trio = ["trio (>=0.31.0) ; python_version < \"3.10\"", "trio (>=0.32.0) ; python_version >= \"3.10\""]
 
 [[package]]
 name = "appnope"
@@ -539,18 +538,18 @@ files = [
 
 [[package]]
 name = "boto3"
-version = "1.41.1"
+version = "1.41.5"
 description = "The AWS SDK for Python"
 optional = false
 python-versions = ">=3.9"
 groups = ["main", "nomad", "perception", "simbench"]
 files = [
-    {file = "boto3-1.41.1-py3-none-any.whl", hash = "sha256:05009dadcb0c63a2a4a11780f615362a811aa85e7a6950f2793ecf8055fcd1f2"},
-    {file = "boto3-1.41.1.tar.gz", hash = "sha256:fdee48cff828cfe0fb66295ae4d5f47736ee35f11e1de6be6c6dcd910f0810a4"},
+    {file = "boto3-1.41.5-py3-none-any.whl", hash = "sha256:bb278111bfb4c33dca8342bda49c9db7685e43debbfa00cc2a5eb854dd54b745"},
+    {file = "boto3-1.41.5.tar.gz", hash = "sha256:bc7806bee681dfdff2fe2b74967b107a56274f1e66ebe4d20dc8eee1ea408d17"},
 ]
 
 [package.dependencies]
-botocore = ">=1.41.1,<1.42.0"
+botocore = ">=1.41.5,<1.42.0"
 jmespath = ">=0.7.1,<2.0.0"
 s3transfer = ">=0.15.0,<0.16.0"
 
@@ -559,14 +558,14 @@ crt = ["botocore[crt] (>=1.21.0,<2.0a0)"]
 
 [[package]]
 name = "botocore"
-version = "1.41.1"
+version = "1.41.5"
 description = "Low-level, data-driven core of boto 3."
 optional = false
 python-versions = ">=3.9"
 groups = ["main", "nomad", "perception", "simbench"]
 files = [
-    {file = "botocore-1.41.1-py3-none-any.whl", hash = "sha256:0db40b7dbddef56fe8cfa06b5eda73b327786db9d64c09c3a616fc9b5548120d"},
-    {file = "botocore-1.41.1.tar.gz", hash = "sha256:e98095492ef8f18d0d6a02ba87d9135c663d4627322e049228143b3a4ef4c2a3"},
+    {file = "botocore-1.41.5-py3-none-any.whl", hash = "sha256:3fef7fcda30c82c27202d232cfdbd6782cb27f20f8e7e21b20606483e66ee73a"},
+    {file = "botocore-1.41.5.tar.gz", hash = "sha256:0367622b811597d183bfcaab4a350f0d3ede712031ce792ef183cabdee80d3bf"},
 ]
 
 [package.dependencies]
@@ -575,7 +574,7 @@ python-dateutil = ">=2.1,<3.0.0"
 urllib3 = {version = ">=1.25.4,<2.2.0 || >2.2.0,<3", markers = "python_version >= \"3.10\""}
 
 [package.extras]
-crt = ["awscrt (==0.28.4)"]
+crt = ["awscrt (==0.29.0)"]
 
 [[package]]
 name = "cachetools"
@@ -835,14 +834,14 @@ files = [
 
 [[package]]
 name = "click"
-version = "8.3.1"
+version = "8.2.1"
 description = "Composable command line interface toolkit"
 optional = false
 python-versions = ">=3.10"
 groups = ["main", "docs", "nomad", "perception", "simbench"]
 files = [
-    {file = "click-8.3.1-py3-none-any.whl", hash = "sha256:981153a64e25f12d547d3426c367a4857371575ee7ad18df2a6183ab0545b2a6"},
-    {file = "click-8.3.1.tar.gz", hash = "sha256:12ff4785d337a1bb490bb7e9c2b1ee5da3112e94a8622f26a6c77f5d2fc6842a"},
+    {file = "click-8.2.1-py3-none-any.whl", hash = "sha256:61a3265b914e850b85317d0b3109c7f8cd35a670f963866005d6ef1d5175a12b"},
+    {file = "click-8.2.1.tar.gz", hash = "sha256:27c491cc05d968d271d5a1db13e3b5a184636d9d930f148c50b038f0d0646202"},
 ]
 
 [package.dependencies]
@@ -862,31 +861,31 @@ files = [
 
 [[package]]
 name = "cmake"
-version = "4.1.3"
+version = "4.2.0"
 description = "CMake is an open-source, cross-platform family of tools designed to build, test and package software"
 optional = false
 python-versions = ">=3.8"
 groups = ["nomad"]
 files = [
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-    {file = "cmake-4.1.3-py3-none-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:81f11b72bc59cbe547d9f283487ef0519bf68176edffcdfa1a4dc5a52f292369"},
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+    {file = "cmake-4.2.0-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:bf11883a4cb3529f69746857df9733cae6175f07361f8016f8f050a3177e7767"},
+    {file = "cmake-4.2.0-py3-none-win32.whl", hash = "sha256:a052030a9722c55d50025fac1f74b499aa2ce0cb137733aa1c6fb49689f560cb"},
+    {file = "cmake-4.2.0-py3-none-win_amd64.whl", hash = "sha256:fb33a0c0486c3f4923a133dbeef4d009b798f1d4e6768381670736665a7f8c0a"},
+    {file = "cmake-4.2.0-py3-none-win_arm64.whl", hash = "sha256:5c0dbe7a37991720d89c84825a4818f19debc8b10d5e4636b56c8fc08bec7a00"},
+    {file = "cmake-4.2.0.tar.gz", hash = "sha256:7744c20e4a23e68dea276d819767d2bdbb45442cc342560b03ff693b755cd181"},
 ]
 
 [[package]]
@@ -900,7 +899,7 @@ files = [
     {file = "colorama-0.4.6-py2.py3-none-any.whl", hash = "sha256:4f1d9991f5acc0ca119f9d443620b77f9d6b33703e51011c16baf57afb285fc6"},
     {file = "colorama-0.4.6.tar.gz", hash = "sha256:08695f5cb7ed6e0531a20572697297273c47b8cae5a63ffc6d6ed5c201be6e44"},
 ]
-markers = {main = "platform_system == \"Windows\" or sys_platform == \"win32\"", nomad = "platform_system == \"Windows\" or sys_platform == \"win32\"", perception = "platform_system == \"Windows\"", s2s = "platform_system == \"Windows\" or sys_platform == \"win32\"", simbench = "platform_system == \"Windows\""}
+markers = {main = "sys_platform == \"win32\" or platform_system == \"Windows\"", nomad = "sys_platform == \"win32\" or platform_system == \"Windows\"", perception = "platform_system == \"Windows\"", s2s = "sys_platform == \"win32\" or platform_system == \"Windows\"", simbench = "platform_system == \"Windows\""}
 
 [[package]]
 name = "coloredlogs"
@@ -1762,15 +1761,15 @@ files = [
 
 [[package]]
 name = "exceptiongroup"
-version = "1.3.0"
+version = "1.3.1"
 description = "Backport of PEP 654 (exception groups)"
 optional = false
 python-versions = ">=3.7"
 groups = ["main", "nomad", "perception", "s2s", "simbench"]
 markers = "python_version == \"3.10\""
 files = [
-    {file = "exceptiongroup-1.3.0-py3-none-any.whl", hash = "sha256:4d111e6e0c13d0644cad6ddaa7ed0261a0b36971f6d23e7ec9b4b9097da78a10"},
-    {file = "exceptiongroup-1.3.0.tar.gz", hash = "sha256:b241f5885f560bc56a59ee63ca4c6a8bfa46ae4ad651af316d4e81817bb9fd88"},
+    {file = "exceptiongroup-1.3.1-py3-none-any.whl", hash = "sha256:a7a39a3bd276781e98394987d3a5701d0c4edffb633bb7a5144577f82c773598"},
+    {file = "exceptiongroup-1.3.1.tar.gz", hash = "sha256:8b412432c6055b0b7d14c310000ae93352ed6754f70fa8f7c34141f91c4e3219"},
 ]
 
 [package.dependencies]
@@ -1886,83 +1885,75 @@ files = [
 
 [[package]]
 name = "fonttools"
-version = "4.60.1"
+version = "4.61.0"
 description = "Tools to manipulate font files"
 optional = false
-python-versions = ">=3.9"
+python-versions = ">=3.10"
 groups = ["nomad", "perception"]
 files = [
-    {file = "fonttools-4.60.1-cp310-cp310-macosx_10_9_universal2.whl", hash = "sha256:9a52f254ce051e196b8fe2af4634c2d2f02c981756c6464dc192f1b6050b4e28"},
-    {file = "fonttools-4.60.1-cp310-cp310-macosx_10_9_x86_64.whl", hash = "sha256:c7420a2696a44650120cdd269a5d2e56a477e2bfa9d95e86229059beb1c19e15"},
-    {file = "fonttools-4.60.1-cp310-cp310-manylinux2014_aarch64.manylinux_2_17_aarch64.manylinux_2_28_aarch64.whl", hash = "sha256:ee0c0b3b35b34f782afc673d503167157094a16f442ace7c6c5e0ca80b08f50c"},
-    {file = "fonttools-4.60.1-cp310-cp310-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:282dafa55f9659e8999110bd8ed422ebe1c8aecd0dc396550b038e6c9a08b8ea"},
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-    {file = "fonttools-4.60.1-cp310-cp310-musllinux_1_2_x86_64.whl", hash = "sha256:0b0835ed15dd5b40d726bb61c846a688f5b4ce2208ec68779bc81860adb5851a"},
-    {file = "fonttools-4.60.1-cp310-cp310-win32.whl", hash = "sha256:1525796c3ffe27bb6268ed2a1bb0dcf214d561dfaf04728abf01489eb5339dce"},
-    {file = "fonttools-4.60.1-cp310-cp310-win_amd64.whl", hash = "sha256:268ecda8ca6cb5c4f044b1fb9b3b376e8cd1b361cef275082429dc4174907038"},
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-    {file = "fonttools-4.60.1-cp311-cp311-win_amd64.whl", hash = "sha256:d066ea419f719ed87bc2c99a4a4bfd77c2e5949cb724588b9dd58f3fd90b92bf"},
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+]
+
+[package.extras]
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 graphite = ["lz4 (>=1.7.4.2)"]
 interpolatable = ["munkres ; platform_python_implementation == \"PyPy\"", "pycairo", "scipy ; platform_python_implementation != \"PyPy\""]
 lxml = ["lxml (>=4.0)"]
 pathops = ["skia-pathops (>=0.5.0)"]
 plot = ["matplotlib"]
-repacker = ["uharfbuzz (>=0.23.0)"]
+repacker = ["uharfbuzz (>=0.45.0)"]
 symfont = ["sympy"]
 type1 = ["xattr ; sys_platform == \"darwin\""]
-unicode = ["unicodedata2 (>=15.1.0) ; python_version <= \"3.12\""]
+unicode = ["unicodedata2 (>=17.0.0) ; python_version <= \"3.14\""]
 woff = ["brotli (>=1.0.1) ; platform_python_implementation == \"CPython\"", "brotlicffi (>=0.8.0) ; platform_python_implementation != \"CPython\"", "zopfli (>=0.1.4)"]
 
 [[package]]
@@ -2297,6 +2288,54 @@ requests = ["requests (>=2.20.0,<3.0.0)"]
 testing = ["aiohttp (<3.10.0)", "aiohttp (>=3.6.2,<4.0.0)", "aioresponses", "cryptography (<39.0.0) ; python_version < \"3.8\"", "cryptography (<39.0.0) ; python_version < \"3.8\"", "cryptography (>=38.0.3)", "cryptography (>=38.0.3)", "flask", "freezegun", "grpcio", "mock", "oauth2client", "packaging", "pyjwt (>=2.0)", "pyopenssl (<24.3.0)", "pyopenssl (>=20.0.0)", "pytest", "pytest-asyncio", "pytest-cov", "pytest-localserver", "pyu2f (>=0.1.5)", "requests (>=2.20.0,<3.0.0)", "responses", "urllib3"]
 urllib3 = ["packaging", "urllib3"]
 
+[[package]]
+name = "google-crc32c"
+version = "1.7.1"
+description = "A python wrapper of the C library 'Google CRC32C'"
+optional = false
+python-versions = ">=3.9"
+groups = ["nomad"]
+markers = "python_version >= \"3.11\""
+files = [
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+    {file = "google_crc32c-1.7.1-pp311-pypy311_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:6efb97eb4369d52593ad6f75e7e10d053cf00c48983f7a973105bc70b0ac4d82"},
+    {file = "google_crc32c-1.7.1.tar.gz", hash = "sha256:2bff2305f98846f3e825dbeec9ee406f89da7962accdb29356e4eadc251bd472"},
+]
+
+[package.extras]
+testing = ["pytest"]
+
 [[package]]
 name = "googleapis-common-protos"
 version = "1.72.0"
@@ -3613,8 +3652,8 @@ files = [
 boto3 = ">=1.39.7"
 langchain-core = ">=0.3.76,<0.4.0"
 numpy = [
-    {version = ">=1.26.0,<3", markers = "python_version >= \"3.12\""},
     {version = ">=1,<2", markers = "python_version < \"3.12\""},
+    {version = ">=1.26.0,<3", markers = "python_version >= \"3.12\""},
 ]
 pydantic = ">=2.10.0,<3"
 
@@ -3797,14 +3836,14 @@ langgraph-checkpoint = ">=2.1.0,<4.0.0"
 
 [[package]]
 name = "langgraph-sdk"
-version = "0.2.9"
+version = "0.2.10"
 description = "SDK for interacting with LangGraph API"
 optional = false
-python-versions = ">=3.9"
+python-versions = ">=3.10"
 groups = ["main", "perception", "simbench"]
 files = [
-    {file = "langgraph_sdk-0.2.9-py3-none-any.whl", hash = "sha256:fbf302edadbf0fb343596f91c597794e936ef68eebc0d3e1d358b6f9f72a1429"},
-    {file = "langgraph_sdk-0.2.9.tar.gz", hash = "sha256:b3bd04c6be4fa382996cd2be8fbc1e7cc94857d2bc6b6f4599a7f2a245975303"},
+    {file = "langgraph_sdk-0.2.10-py3-none-any.whl", hash = "sha256:9aef403663726085de6851e4e50459df9562069bd316dd0261eb359f776fd0ef"},
+    {file = "langgraph_sdk-0.2.10.tar.gz", hash = "sha256:ab58331504fbea28e6322037aa362929799b4e9106663ac1dbd7c5ac44558933"},
 ]
 
 [package.dependencies]
@@ -3813,14 +3852,14 @@ orjson = ">=3.10.1"
 
 [[package]]
 name = "langsmith"
-version = "0.4.45"
+version = "0.4.49"
 description = "Client library to connect to the LangSmith Observability and Evaluation Platform."
 optional = false
 python-versions = ">=3.10"
 groups = ["main", "perception", "simbench"]
 files = [
-    {file = "langsmith-0.4.45-py3-none-any.whl", hash = "sha256:6326ad2e66c24d47361b4338fbc23e7fee8da624b289921a9c164e15217ed8e2"},
-    {file = "langsmith-0.4.45.tar.gz", hash = "sha256:f73f86353e31e8f89da2da2b1ebf9f695227f394d22df3ef5d7618e59738bd71"},
+    {file = "langsmith-0.4.49-py3-none-any.whl", hash = "sha256:95f84edcd8e74ed658e4a3eb7355b530f35cb08a9a8865dbfde6740e4b18323c"},
+    {file = "langsmith-0.4.49.tar.gz", hash = "sha256:4a16ef6f3a9b20c5471884991a12ff37d81f2c13a50660cfe27fa79a7ca2c1b0"},
 ]
 
 [package.dependencies]
@@ -4340,18 +4379,18 @@ files = [
 
 [[package]]
 name = "mkdocstrings"
-version = "0.30.1"
+version = "1.0.0"
 description = "Automatic documentation from sources, for MkDocs."
 optional = false
-python-versions = ">=3.9"
+python-versions = ">=3.10"
 groups = ["docs"]
 files = [
-    {file = "mkdocstrings-0.30.1-py3-none-any.whl", hash = "sha256:41bd71f284ca4d44a668816193e4025c950b002252081e387433656ae9a70a82"},
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+    {file = "mkdocstrings-1.0.0-py3-none-any.whl", hash = "sha256:4c50eb960bff6e05dfc631f6bc00dfabffbcb29c5ff25f676d64daae05ed82fa"},
+    {file = "mkdocstrings-1.0.0.tar.gz", hash = "sha256:351a006dbb27aefce241ade110d3cd040c1145b7a3eb5fd5ac23f03ed67f401a"},
 ]
 
 [package.dependencies]
-Jinja2 = ">=2.11.1"
+Jinja2 = ">=3.1"
 Markdown = ">=3.6"
 MarkupSafe = ">=1.1"
 mkdocs = ">=1.6"
@@ -4365,14 +4404,14 @@ python-legacy = ["mkdocstrings-python-legacy (>=0.2.1)"]
 
 [[package]]
 name = "mkdocstrings-python"
-version = "1.19.0"
+version = "2.0.0"
 description = "A Python handler for mkdocstrings."
 optional = false
 python-versions = ">=3.10"
 groups = ["docs"]
 files = [
-    {file = "mkdocstrings_python-1.19.0-py3-none-any.whl", hash = "sha256:395c1032af8f005234170575cc0c5d4d20980846623b623b35594281be4a3059"},
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+    {file = "mkdocstrings_python-2.0.0-py3-none-any.whl", hash = "sha256:1d552dda109d47e4fddecbb1f06f9a86699c1b073e8b166fba89eeef0a0ffec6"},
+    {file = "mkdocstrings_python-2.0.0.tar.gz", hash = "sha256:4d872290f595221740a304bebca5b3afa4beafe84cc6fd27314d52dc3fbb4676"},
 ]
 
 [package.dependencies]
@@ -4766,23 +4805,25 @@ test = ["pytest (>=7.2)", "pytest-cov (>=4.0)"]
 
 [[package]]
 name = "networkx"
-version = "3.5"
+version = "3.6"
 description = "Python package for creating and manipulating graphs and networks"
 optional = false
 python-versions = ">=3.11"
 groups = ["nomad", "perception", "s2s"]
 markers = "python_version >= \"3.11\""
 files = [
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-    {file = "networkx-3.5.tar.gz", hash = "sha256:d4c6f9cf81f52d69230866796b82afbccdec3db7ae4fbd1b65ea750feed50037"},
+    {file = "networkx-3.6-py3-none-any.whl", hash = "sha256:cdb395b105806062473d3be36458d8f1459a4e4b98e236a66c3a48996e07684f"},
+    {file = "networkx-3.6.tar.gz", hash = "sha256:285276002ad1f7f7da0f7b42f004bcba70d381e936559166363707fdad3d72ad"},
 ]
 
 [package.extras]
+benchmarking = ["asv", "virtualenv"]
 default = ["matplotlib (>=3.8)", "numpy (>=1.25)", "pandas (>=2.0)", "scipy (>=1.11.2)"]
 developer = ["mypy (>=1.15)", "pre-commit (>=4.1)"]
 doc = ["intersphinx-registry", "myst-nb (>=1.1)", "numpydoc (>=1.8.0)", "pillow (>=10)", "pydata-sphinx-theme (>=0.16)", "sphinx (>=8.0)", "sphinx-gallery (>=0.18)", "texext (>=0.6.7)"]
-example = ["cairocffi (>=1.7)", "contextily (>=1.6)", "igraph (>=0.11)", "momepy (>=0.7.2)", "osmnx (>=2.0.0)", "scikit-learn (>=1.5)", "seaborn (>=0.13)"]
+example = ["cairocffi (>=1.7)", "contextily (>=1.6)", "igraph (>=0.11)", "iplotx (>=0.9.0)", "momepy (>=0.7.2)", "osmnx (>=2.0.0)", "scikit-learn (>=1.5)", "seaborn (>=0.13)"]
 extra = ["lxml (>=4.6)", "pydot (>=3.0.1)", "pygraphviz (>=1.14)", "sympy (>=1.10)"]
+release = ["build (>=0.10)", "changelist (==0.5)", "twine (>=4.0)", "wheel (>=0.40)"]
 test = ["pytest (>=7.2)", "pytest-cov (>=4.0)", "pytest-xdist (>=3.0)"]
 test-extras = ["pytest-mpl", "pytest-randomly"]
 
@@ -4874,34 +4915,34 @@ zfpy = ["numpy (<2.0.0)", "zfpy (>=1.0.0)"]
 
 [[package]]
 name = "numcodecs"
-version = "0.16.4"
+version = "0.16.5"
 description = "A Python package providing buffer compression and transformation codecs for use in data storage and communication applications."
 optional = false
 python-versions = ">=3.11"
 groups = ["nomad"]
 markers = "python_version >= \"3.11\""
 files = [
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 ]
 
 [package.dependencies]
@@ -4909,9 +4950,14 @@ numpy = ">=1.24"
 typing_extensions = "*"
 
 [package.extras]
+crc32c = ["crc32c (>=2.7)"]
 docs = ["numpydoc", "pydata-sphinx-theme", "sphinx", "sphinx-issues"]
+google-crc32c = ["google-crc32c (>=1.5)"]
+msgpack = ["msgpack"]
+pcodec = ["pcodec (>=0.3,<0.4)"]
 test = ["coverage", "pytest", "pytest-cov", "pyzstd"]
 test-extras = ["crc32c", "importlib_metadata"]
+zfpy = ["zfpy (>=1.0.0)"]
 
 [[package]]
 name = "numpy"
@@ -5205,7 +5251,7 @@ description = "ONNX Runtime is a runtime accelerator for Machine Learning models
 optional = false
 python-versions = ">=3.10"
 groups = ["s2s"]
-markers = "platform_machine == \"x86_64\" and sys_platform != \"darwin\""
+markers = "sys_platform != \"darwin\" and platform_machine == \"x86_64\""
 files = [
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@@ -5329,10 +5375,10 @@ files = [
 
 [package.dependencies]
 numpy = [
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-    {version = ">=1.21.2", markers = "platform_system != \"Darwin\" and python_version >= \"3.10\""},
+    {version = ">=1.21.4", markers = "python_version == \"3.10\" and platform_system == \"Darwin\""},
+    {version = ">=1.21.2", markers = "platform_system != \"Darwin\" and python_version == \"3.10\""},
+    {version = ">=1.26.0", markers = "python_version >= \"3.12\""},
 ]
 
 [[package]]
@@ -5354,10 +5400,10 @@ files = [
 
 [package.dependencies]
 numpy = [
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     {version = ">=1.23.5", markers = "python_version >= \"3.11\""},
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-    {version = ">=1.21.2", markers = "platform_system != \"Darwin\" and python_version == \"3.10\""},
+    {version = ">=1.21.4", markers = "python_version >= \"3.10\" and platform_system == \"Darwin\""},
+    {version = ">=1.21.2", markers = "platform_system != \"Darwin\" and python_version >= \"3.10\""},
+    {version = ">=1.26.0", markers = "python_version >= \"3.12\""},
 ]
 
 [[package]]
@@ -5718,9 +5764,9 @@ files = [
 
 [package.dependencies]
 numpy = [
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     {version = ">=1.23.2", markers = "python_version == \"3.11\""},
     {version = ">=1.22.4", markers = "python_version < \"3.11\""},
+    {version = ">=1.26.0", markers = "python_version >= \"3.12\""},
 ]
 python-dateutil = ">=2.8.2"
 pytz = ">=2020.1"
@@ -6526,14 +6572,14 @@ files = [
 
 [[package]]
 name = "pydantic"
-version = "2.12.4"
+version = "2.12.5"
 description = "Data validation using Python type hints"
 optional = false
 python-versions = ">=3.9"
 groups = ["main", "nomad", "perception", "s2s", "simbench"]
 files = [
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 ]
 
 [package.dependencies]
@@ -6753,14 +6799,14 @@ windows-terminal = ["colorama (>=0.4.6)"]
 
 [[package]]
 name = "pymdown-extensions"
-version = "10.17.1"
+version = "10.17.2"
 description = "Extension pack for Python Markdown."
 optional = false
 python-versions = ">=3.9"
 groups = ["docs"]
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 ]
 
 [package.dependencies]
@@ -7311,7 +7357,7 @@ url = "src/rai_bench"
 
 [[package]]
 name = "rai-core"
-version = "2.5.9"
+version = "2.5.10"
 description = "Core functionality for RAI framework"
 optional = false
 python-versions = "^3.10, <3.13"
@@ -7349,13 +7395,13 @@ url = "src/rai_core"
 
 [[package]]
 name = "rai-gsam2"
-version = "1.0.0"
+version = "1.0.1"
 description = "SAM 2: Segment Anything in Images and Videos (RobotecAI fork)"
 optional = false
 python-versions = ">=3.10.0"
 groups = ["perception"]
 files = [
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 ]
 
 [package.dependencies]
@@ -7378,7 +7424,7 @@ reference = "test-pypi"
 
 [[package]]
 name = "rai-perception"
-version = "0.1.2"
+version = "0.1.5"
 description = "Package for object detection, segmentation and gripping point detection."
 optional = false
 python-versions = "^3.8"
@@ -7388,7 +7434,7 @@ develop = true
 
 [package.dependencies]
 rai_core = ">=2.0.0.a2,<3.0.0"
-rai-gsam2 = "1.0.0"
+rai-gsam2 = "1.0.1"
 rf-groundingdino = "^0.2.0"
 torch = "^2.3.1"
 torchvision = "^0.18.1"
@@ -7474,37 +7520,33 @@ url = "src/rai_whoami"
 
 [[package]]
 name = "ray"
-version = "2.51.1"
+version = "2.52.1"
 description = "Ray provides a simple, universal API for building distributed applications."
 optional = false
 python-versions = ">=3.9"
 groups = ["nomad"]
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+    {file = "ray-2.52.1-cp312-cp312-manylinux2014_aarch64.whl", hash = "sha256:08eb8f5fd55292ba6bee363a32491136a5e54af54e007f81e0603986fbea41a4"},
+    {file = "ray-2.52.1-cp312-cp312-manylinux2014_x86_64.whl", hash = "sha256:843c0108ad72bb7fc6c23a22e29e6099546a5eaad3ad675c78a146d9080f6ec6"},
+    {file = "ray-2.52.1-cp312-cp312-win_amd64.whl", hash = "sha256:8045172ad3fcff62b9dab9a4cd2e0991ad0e27fc814fe625a8d3a120306651d6"},
+    {file = "ray-2.52.1-cp313-cp313-macosx_12_0_arm64.whl", hash = "sha256:b5bc29548abb0a0a7ae9e6ff3b0ccca2824edaf011a4336e15a32793d574fbfd"},
+    {file = "ray-2.52.1-cp313-cp313-manylinux2014_aarch64.whl", hash = "sha256:e3826aeb4e4399de0c6885bd8be7ce2f629fa0010f0013f1183e0726b3d25e40"},
+    {file = "ray-2.52.1-cp313-cp313-manylinux2014_x86_64.whl", hash = "sha256:bbe492c780a39a64bd3d0766cad10d54cf12222df88d287ec2d8f2d52de37c79"},
 ]
 
 [package.dependencies]
 aiohttp = {version = ">=3.7", optional = true, markers = "extra == \"default\""}
 aiohttp_cors = {version = "*", optional = true, markers = "extra == \"default\""}
-click = ">=7.0,<8.3.0 || >8.3.0"
+click = ">=7.0,<8.3.dev0 || >=8.4.dev0"
 colorful = {version = "*", optional = true, markers = "extra == \"default\""}
 filelock = "*"
 fsspec = {version = "*", optional = true, markers = "extra == \"tune\""}
@@ -7520,11 +7562,11 @@ pandas = {version = "*", optional = true, markers = "extra == \"tune\""}
 prometheus_client = {version = ">=0.7.1", optional = true, markers = "extra == \"default\""}
 protobuf = ">=3.20.3"
 py-spy = [
-    {version = ">=0.4.0", optional = true, markers = "python_version >= \"3.12\" and extra == \"default\""},
     {version = ">=0.2.0", optional = true, markers = "python_version < \"3.12\" and extra == \"default\""},
+    {version = ">=0.4.0", optional = true, markers = "python_version >= \"3.12\" and extra == \"default\""},
 ]
 pyarrow = {version = ">=9.0.0", optional = true, markers = "extra == \"tune\""}
-pydantic = {version = "<2.0.dev0 || >=2.5.dev0,<3", optional = true, markers = "extra == \"default\""}
+pydantic = {version = "<2.0.dev0 || >=2.5.dev0,<3", optional = true, markers = "extra == \"default\" or extra == \"tune\""}
 pyyaml = "*"
 requests = "*"
 smart_open = {version = "*", optional = true, markers = "extra == \"default\""}
@@ -7535,31 +7577,31 @@ virtualenv = {version = ">=20.0.24,<20.21.1 || >20.21.1", optional = true, marke
 adag = ["cupy-cuda12x ; sys_platform != \"darwin\""]
 air = ["aiohttp (>=3.7)", "aiohttp_cors", "colorful", "fastapi", "fsspec", "grpcio (>=1.32.0) ; python_version < \"3.10\"", "grpcio (>=1.42.0) ; python_version >= \"3.10\"", "numpy (>=1.20)", "opencensus", "opentelemetry-exporter-prometheus", "opentelemetry-proto", "opentelemetry-sdk (>=1.30.0)", "pandas", "pandas (>=1.3)", "prometheus_client (>=0.7.1)", "py-spy (>=0.2.0) ; python_version < \"3.12\"", "py-spy (>=0.4.0) ; python_version >= \"3.12\"", "pyarrow (>=9.0.0)", "pydantic (<2.0.dev0 || >=2.5.dev0,<3)", "requests", "smart_open", "starlette", "tensorboardX (>=1.9)", "uvicorn[standard]", "virtualenv (>=20.0.24,!=20.21.1)", "watchfiles"]
 all = ["aiohttp (>=3.7)", "aiohttp_cors", "celery", "colorful", "cupy-cuda12x ; sys_platform != \"darwin\"", "dm_tree", "fastapi", "fsspec", "grpcio", "grpcio (!=1.56.0) ; sys_platform == \"darwin\"", "grpcio (>=1.32.0) ; python_version < \"3.10\"", "grpcio (>=1.42.0) ; python_version >= \"3.10\"", "gymnasium (==1.1.1)", "lz4", "memray ; sys_platform != \"win32\"", "numpy (>=1.20)", "opencensus", "opentelemetry-exporter-prometheus", "opentelemetry-proto", "opentelemetry-sdk (>=1.30.0)", "ormsgpack (==1.7.0)", "pandas", "pandas (>=1.3)", "prometheus_client (>=0.7.1)", "py-spy (>=0.2.0) ; python_version < \"3.12\"", "py-spy (>=0.4.0) ; python_version >= \"3.12\"", "pyOpenSSL", "pyarrow (>=9.0.0)", "pydantic (<2.0.dev0 || >=2.5.dev0,<3)", "pyyaml", "requests", "scipy", "smart_open", "starlette", "tensorboardX (>=1.9)", "uvicorn[standard]", "virtualenv (>=20.0.24,!=20.21.1)", "watchfiles"]
-all-cpp = ["aiohttp (>=3.7)", "aiohttp_cors", "celery", "colorful", "cupy-cuda12x ; sys_platform != \"darwin\"", "dm_tree", "fastapi", "fsspec", "grpcio", "grpcio (!=1.56.0) ; sys_platform == \"darwin\"", "grpcio (>=1.32.0) ; python_version < \"3.10\"", "grpcio (>=1.42.0) ; python_version >= \"3.10\"", "gymnasium (==1.1.1)", "lz4", "memray ; sys_platform != \"win32\"", "numpy (>=1.20)", "opencensus", "opentelemetry-exporter-prometheus", "opentelemetry-proto", "opentelemetry-sdk (>=1.30.0)", "ormsgpack (==1.7.0)", "pandas", "pandas (>=1.3)", "prometheus_client (>=0.7.1)", "py-spy (>=0.2.0) ; python_version < \"3.12\"", "py-spy (>=0.4.0) ; python_version >= \"3.12\"", "pyOpenSSL", "pyarrow (>=9.0.0)", "pydantic (<2.0.dev0 || >=2.5.dev0,<3)", "pyyaml", "ray-cpp (==2.51.1)", "requests", "scipy", "smart_open", "starlette", "tensorboardX (>=1.9)", "uvicorn[standard]", "virtualenv (>=20.0.24,!=20.21.1)", "watchfiles"]
+all-cpp = ["aiohttp (>=3.7)", "aiohttp_cors", "celery", "colorful", "cupy-cuda12x ; sys_platform != \"darwin\"", "dm_tree", "fastapi", "fsspec", "grpcio", "grpcio (!=1.56.0) ; sys_platform == \"darwin\"", "grpcio (>=1.32.0) ; python_version < \"3.10\"", "grpcio (>=1.42.0) ; python_version >= \"3.10\"", "gymnasium (==1.1.1)", "lz4", "memray ; sys_platform != \"win32\"", "numpy (>=1.20)", "opencensus", "opentelemetry-exporter-prometheus", "opentelemetry-proto", "opentelemetry-sdk (>=1.30.0)", "ormsgpack (==1.7.0)", "pandas", "pandas (>=1.3)", "prometheus_client (>=0.7.1)", "py-spy (>=0.2.0) ; python_version < \"3.12\"", "py-spy (>=0.4.0) ; python_version >= \"3.12\"", "pyOpenSSL", "pyarrow (>=9.0.0)", "pydantic (<2.0.dev0 || >=2.5.dev0,<3)", "pyyaml", "ray-cpp (==2.52.1)", "requests", "scipy", "smart_open", "starlette", "tensorboardX (>=1.9)", "uvicorn[standard]", "virtualenv (>=20.0.24,!=20.21.1)", "watchfiles"]
 cgraph = ["cupy-cuda12x ; sys_platform != \"darwin\""]
 client = ["grpcio", "grpcio (!=1.56.0) ; sys_platform == \"darwin\""]
-cpp = ["ray-cpp (==2.51.1)"]
+cpp = ["ray-cpp (==2.52.1)"]
 data = ["fsspec", "numpy (>=1.20)", "pandas (>=1.3)", "pyarrow (>=9.0.0)"]
 default = ["aiohttp (>=3.7)", "aiohttp_cors", "colorful", "grpcio (>=1.32.0) ; python_version < \"3.10\"", "grpcio (>=1.42.0) ; python_version >= \"3.10\"", "opencensus", "opentelemetry-exporter-prometheus", "opentelemetry-proto", "opentelemetry-sdk (>=1.30.0)", "prometheus_client (>=0.7.1)", "py-spy (>=0.2.0) ; python_version < \"3.12\"", "py-spy (>=0.4.0) ; python_version >= \"3.12\"", "pydantic (<2.0.dev0 || >=2.5.dev0,<3)", "requests", "smart_open", "virtualenv (>=20.0.24,!=20.21.1)"]
-llm = ["aiohttp (>=3.7)", "aiohttp_cors", "async-timeout ; python_version < \"3.11\"", "colorful", "fastapi", "fsspec", "grpcio (>=1.32.0) ; python_version < \"3.10\"", "grpcio (>=1.42.0) ; python_version >= \"3.10\"", "hf_transfer", "jsonref (>=1.1.0)", "jsonschema", "ninja", "nixl (>=0.6.1)", "numpy (>=1.20)", "opencensus", "opentelemetry-exporter-prometheus", "opentelemetry-proto", "opentelemetry-sdk (>=1.30.0)", "pandas (>=1.3)", "prometheus_client (>=0.7.1)", "py-spy (>=0.2.0) ; python_version < \"3.12\"", "py-spy (>=0.4.0) ; python_version >= \"3.12\"", "pyarrow (>=9.0.0)", "pydantic (<2.0.dev0 || >=2.5.dev0,<3)", "requests", "smart_open", "starlette", "typer", "uvicorn[standard]", "virtualenv (>=20.0.24,!=20.21.1)", "vllm (>=0.11.0)", "watchfiles"]
+llm = ["aiohttp (>=3.7)", "aiohttp_cors", "async-timeout ; python_version < \"3.11\"", "colorful", "fastapi", "fsspec", "grpcio (>=1.32.0) ; python_version < \"3.10\"", "grpcio (>=1.42.0) ; python_version >= \"3.10\"", "hf_transfer", "jsonref (>=1.1.0)", "jsonschema", "meson", "ninja", "nixl (>=0.6.1)", "numpy (>=1.20)", "opencensus", "opentelemetry-exporter-prometheus", "opentelemetry-proto", "opentelemetry-sdk (>=1.30.0)", "pandas (>=1.3)", "prometheus_client (>=0.7.1)", "py-spy (>=0.2.0) ; python_version < \"3.12\"", "py-spy (>=0.4.0) ; python_version >= \"3.12\"", "pyarrow (>=9.0.0)", "pybind11", "pydantic (<2.0.dev0 || >=2.5.dev0,<3)", "requests", "smart_open", "starlette", "typer", "uvicorn[standard]", "virtualenv (>=20.0.24,!=20.21.1)", "vllm[audio] (>=0.11.0)", "watchfiles"]
 observability = ["memray ; sys_platform != \"win32\""]
-rllib = ["dm_tree", "fsspec", "gymnasium (==1.1.1)", "lz4", "ormsgpack (==1.7.0)", "pandas", "pyarrow (>=9.0.0)", "pyyaml", "requests", "scipy", "tensorboardX (>=1.9)"]
+rllib = ["dm_tree", "fsspec", "gymnasium (==1.1.1)", "lz4", "ormsgpack (==1.7.0)", "pandas", "pyarrow (>=9.0.0)", "pydantic (<2.0.dev0 || >=2.5.dev0,<3)", "pyyaml", "requests", "scipy", "tensorboardX (>=1.9)"]
 serve = ["aiohttp (>=3.7)", "aiohttp_cors", "colorful", "fastapi", "grpcio (>=1.32.0) ; python_version < \"3.10\"", "grpcio (>=1.42.0) ; python_version >= \"3.10\"", "opencensus", "opentelemetry-exporter-prometheus", "opentelemetry-proto", "opentelemetry-sdk (>=1.30.0)", "prometheus_client (>=0.7.1)", "py-spy (>=0.2.0) ; python_version < \"3.12\"", "py-spy (>=0.4.0) ; python_version >= \"3.12\"", "pydantic (<2.0.dev0 || >=2.5.dev0,<3)", "requests", "smart_open", "starlette", "uvicorn[standard]", "virtualenv (>=20.0.24,!=20.21.1)", "watchfiles"]
 serve-async-inference = ["aiohttp (>=3.7)", "aiohttp_cors", "celery", "colorful", "fastapi", "grpcio (>=1.32.0) ; python_version < \"3.10\"", "grpcio (>=1.42.0) ; python_version >= \"3.10\"", "opencensus", "opentelemetry-exporter-prometheus", "opentelemetry-proto", "opentelemetry-sdk (>=1.30.0)", "prometheus_client (>=0.7.1)", "py-spy (>=0.2.0) ; python_version < \"3.12\"", "py-spy (>=0.4.0) ; python_version >= \"3.12\"", "pydantic (<2.0.dev0 || >=2.5.dev0,<3)", "requests", "smart_open", "starlette", "uvicorn[standard]", "virtualenv (>=20.0.24,!=20.21.1)", "watchfiles"]
 serve-grpc = ["aiohttp (>=3.7)", "aiohttp_cors", "colorful", "fastapi", "grpcio (>=1.32.0) ; python_version < \"3.10\"", "grpcio (>=1.42.0) ; python_version >= \"3.10\"", "opencensus", "opentelemetry-exporter-prometheus", "opentelemetry-proto", "opentelemetry-sdk (>=1.30.0)", "prometheus_client (>=0.7.1)", "py-spy (>=0.2.0) ; python_version < \"3.12\"", "py-spy (>=0.4.0) ; python_version >= \"3.12\"", "pyOpenSSL", "pydantic (<2.0.dev0 || >=2.5.dev0,<3)", "requests", "smart_open", "starlette", "uvicorn[standard]", "virtualenv (>=20.0.24,!=20.21.1)", "watchfiles"]
-train = ["fsspec", "pandas", "pyarrow (>=9.0.0)", "pydantic (<2.0.dev0 || >=2.5.dev0,<3)", "requests", "tensorboardX (>=1.9)"]
-tune = ["fsspec", "pandas", "pyarrow (>=9.0.0)", "requests", "tensorboardX (>=1.9)"]
+train = ["fsspec", "pandas", "pyarrow (>=9.0.0)", "pydantic (<2.0.dev0 || >=2.5.dev0,<3)", "pydantic (<2.0.dev0 || >=2.5.dev0,<3)", "requests", "tensorboardX (>=1.9)"]
+tune = ["fsspec", "pandas", "pyarrow (>=9.0.0)", "pydantic (<2.0.dev0 || >=2.5.dev0,<3)", "requests", "tensorboardX (>=1.9)"]
 
 [[package]]
 name = "rdflib"
-version = "7.4.0"
+version = "7.5.0"
 description = "RDFLib is a Python library for working with RDF, a simple yet powerful language for representing information."
 optional = false
 python-versions = ">=3.8.1"
 groups = ["s2s"]
 files = [
-    {file = "rdflib-7.4.0-py3-none-any.whl", hash = "sha256:0af003470404ff21bc0eb04077cc97ee96da581f2429bf42a8e163fc1c2797bc"},
-    {file = "rdflib-7.4.0.tar.gz", hash = "sha256:c8ee16c31848c19c174aed96185327ea139ca3d392fac7fa882ddf5687f8f533"},
+    {file = "rdflib-7.5.0-py3-none-any.whl", hash = "sha256:b011dfc40d0fc8a44252e906dcd8fc806a7859bc231be190c37e9568a31ac572"},
+    {file = "rdflib-7.5.0.tar.gz", hash = "sha256:663083443908b1830e567350d72e74d9948b310f827966358d76eebdc92bf592"},
 ]
 
 [package.dependencies]
@@ -7572,6 +7614,7 @@ html = ["html5rdf (>=1.2,<2)"]
 lxml = ["lxml (>=4.3,<6.0)"]
 networkx = ["networkx (>=2,<4)"]
 orjson = ["orjson (>=3.9.14,<4)"]
+rdf4j = ["httpx (>=0.28.1,<0.29.0)"]
 
 [[package]]
 name = "referencing"
@@ -8287,14 +8330,14 @@ test = ["pytest (>=5)", "pytest-cov", "pytest-mock"]
 
 [[package]]
 name = "sentry-sdk"
-version = "2.45.0"
+version = "2.46.0"
 description = "Python client for Sentry (https://sentry.io)"
 optional = false
 python-versions = ">=3.6"
 groups = ["nomad"]
 files = [
-    {file = "sentry_sdk-2.45.0-py2.py3-none-any.whl", hash = "sha256:86c8ab05dc3e8666aece77a5c747b45b25aa1d5f35f06cde250608f495d50f23"},
-    {file = "sentry_sdk-2.45.0.tar.gz", hash = "sha256:e9bbfe69d5f6742f48bad22452beffb525bbc5b797d817c7f1b1f7d210cdd271"},
+    {file = "sentry_sdk-2.46.0-py2.py3-none-any.whl", hash = "sha256:4eeeb60198074dff8d066ea153fa6f241fef1668c10900ea53a4200abc8da9b1"},
+    {file = "sentry_sdk-2.46.0.tar.gz", hash = "sha256:91821a23460725734b7741523021601593f35731808afc0bb2ba46c27b8acd91"},
 ]
 
 [package.dependencies]
@@ -8499,7 +8542,7 @@ version = "1.3.1"
 description = "Sniff out which async library your code is running under"
 optional = false
 python-versions = ">=3.7"
-groups = ["main", "nomad", "perception", "s2s", "simbench"]
+groups = ["main", "perception", "simbench"]
 files = [
     {file = "sniffio-1.3.1-py3-none-any.whl", hash = "sha256:2f6da418d1f1e0fddd844478f41680e794e6051915791a034ff65e5f100525a2"},
     {file = "sniffio-1.3.1.tar.gz", hash = "sha256:f4324edc670a0f49750a81b895f35c3adb843cca46f0530f79fc1babb23789dc"},
@@ -9367,14 +9410,14 @@ test = ["argcomplete (>=3.0.3)", "mypy (>=1.7.0)", "pre-commit", "pytest (>=7.0,
 
 [[package]]
 name = "transformers"
-version = "4.57.1"
+version = "4.57.3"
 description = "State-of-the-art Machine Learning for JAX, PyTorch and TensorFlow"
 optional = false
 python-versions = ">=3.9.0"
 groups = ["perception"]
 files = [
-    {file = "transformers-4.57.1-py3-none-any.whl", hash = "sha256:b10d05da8fa67dc41644dbbf9bc45a44cb86ae33da6f9295f5fbf5b7890bd267"},
-    {file = "transformers-4.57.1.tar.gz", hash = "sha256:f06c837959196c75039809636cd964b959f6604b75b8eeec6fdfc0440b89cc55"},
+    {file = "transformers-4.57.3-py3-none-any.whl", hash = "sha256:c77d353a4851b1880191603d36acb313411d3577f6e2897814f333841f7003f4"},
+    {file = "transformers-4.57.3.tar.gz", hash = "sha256:df4945029aaddd7c09eec5cad851f30662f8bd1746721b34cc031d70c65afebc"},
 ]
 
 [package.dependencies]
@@ -9630,14 +9673,14 @@ resolved_reference = "bdbac0425eb7bc4ca161bf7dac8d707f7a1f6cd7"
 
 [[package]]
 name = "vit-pytorch"
-version = "1.15.4"
+version = "1.16.1"
 description = "Vision Transformer (ViT) - Pytorch"
 optional = false
 python-versions = ">=3.8"
 groups = ["nomad"]
 files = [
-    {file = "vit_pytorch-1.15.4-py3-none-any.whl", hash = "sha256:98204ff0555db53cf36276539721885c3687c996214a02a342654d361edda568"},
-    {file = "vit_pytorch-1.15.4.tar.gz", hash = "sha256:e27a290033a627aebc43a16ad42e1b9edbb0614b0ffd16b67ddebe861a193fec"},
+    {file = "vit_pytorch-1.16.1-py3-none-any.whl", hash = "sha256:32196689ef275a912f2c1f447c30fdbdb166206eed44315465877a97cee40c52"},
+    {file = "vit_pytorch-1.16.1.tar.gz", hash = "sha256:e0854ef7eeae8f16aaf631371001e0765018ec963e5e35df7271cb082fd375b8"},
 ]
 
 [package.dependencies]
@@ -9830,18 +9873,18 @@ files = [
 
 [[package]]
 name = "werkzeug"
-version = "3.1.3"
+version = "3.1.4"
 description = "The comprehensive WSGI web application library."
 optional = false
 python-versions = ">=3.9"
 groups = ["nomad"]
 files = [
-    {file = "werkzeug-3.1.3-py3-none-any.whl", hash = "sha256:54b78bf3716d19a65be4fceccc0d1d7b89e608834989dfae50ea87564639213e"},
-    {file = "werkzeug-3.1.3.tar.gz", hash = "sha256:60723ce945c19328679790e3282cc758aa4a6040e4bb330f53d30fa546d44746"},
+    {file = "werkzeug-3.1.4-py3-none-any.whl", hash = "sha256:2ad50fb9ed09cc3af22c54698351027ace879a0b60a3b5edf5730b2f7d876905"},
+    {file = "werkzeug-3.1.4.tar.gz", hash = "sha256:cd3cd98b1b92dc3b7b3995038826c68097dcb16f9baa63abe35f20eafeb9fe5e"},
 ]
 
 [package.dependencies]
-MarkupSafe = ">=2.1.1"
+markupsafe = ">=2.1.1"
 
 [package.extras]
 watchdog = ["watchdog (>=2.3)"]
@@ -10289,27 +10332,28 @@ jupyter = ["ipytree (>=0.2.2)", "ipywidgets (>=8.0.0)", "notebook"]
 
 [[package]]
 name = "zarr"
-version = "3.1.3"
+version = "3.1.5"
 description = "An implementation of chunked, compressed, N-dimensional arrays for Python"
 optional = false
 python-versions = ">=3.11"
 groups = ["nomad"]
 markers = "python_version >= \"3.11\""
 files = [
-    {file = "zarr-3.1.3-py3-none-any.whl", hash = "sha256:45f67f87f65f14fa453f99dd8110a5936b7ac69f3a21981d33e90407c80c302a"},
-    {file = "zarr-3.1.3.tar.gz", hash = "sha256:01342f3e26a02ed5670db608a5576fbdb8d76acb5c280bd2d0082454b1ba6f79"},
+    {file = "zarr-3.1.5-py3-none-any.whl", hash = "sha256:29cd905afb6235b94c09decda4258c888fcb79bb6c862ef7c0b8fe009b5c8563"},
+    {file = "zarr-3.1.5.tar.gz", hash = "sha256:fbe0c79675a40c996de7ca08e80a1c0a20537bd4a9f43418b6d101395c0bba2b"},
 ]
 
 [package.dependencies]
 donfig = ">=0.8"
-numcodecs = {version = ">=0.14", extras = ["crc32c"]}
+google-crc32c = ">=1.5"
+numcodecs = ">=0.14"
 numpy = ">=1.26"
 packaging = ">=22.0"
 typing-extensions = ">=4.9"
 
 [package.extras]
 cli = ["typer"]
-docs = ["astroid (<4)", "numcodecs[msgpack]", "numpydoc", "pydata-sphinx-theme", "pytest", "rich", "s3fs (>=2023.10.0)", "sphinx (==8.1.3)", "sphinx-autoapi (==3.4.0)", "sphinx-autobuild (>=2021.3.14)", "sphinx-copybutton", "sphinx-design", "sphinx-issues", "sphinx-reredirects", "towncrier"]
+docs = ["astroid (<4)", "griffe-inherited-docstrings", "markdown-exec[ansi]", "mike (>=2.1.3)", "mkdocs (>=1.6.1)", "mkdocs-material[imaging] (>=9.6.14)", "mkdocs-redirects (>=1.2.0)", "mkdocstrings (>=0.29.1)", "mkdocstrings-python (>=1.16.10)", "numcodecs[msgpack]", "pytest", "rich", "ruff", "s3fs (>=2023.10.0)", "towncrier"]
 gpu = ["cupy-cuda12x"]
 optional = ["rich", "universal-pathlib"]
 remote = ["fsspec (>=2023.10.0)", "obstore (>=0.5.1)"]
diff --git a/src/rai_bench/rai_bench/tool_calling_agent/mocked_tools.py b/src/rai_bench/rai_bench/tool_calling_agent/mocked_tools.py
index b961a34b3..262f97f48 100644
--- a/src/rai_bench/rai_bench/tool_calling_agent/mocked_tools.py
+++ b/src/rai_bench/rai_bench/tool_calling_agent/mocked_tools.py
@@ -21,7 +21,7 @@
 import numpy as np
 import numpy.typing as npt
 from langchain_core.tools import BaseTool
-from pydantic import BaseModel, ValidationError, computed_field
+from pydantic import BaseModel, SkipValidation, ValidationError, computed_field
 from rai.communication.ros2.api.conversion import import_message_from_str
 from rai.communication.ros2.connectors import ROS2Connector
 from rai.communication.ros2.messages import ROS2Message
@@ -474,7 +474,9 @@ class MockGetROS2ActionFeedbackTool(GetROS2ActionFeedbackTool):
     connector: ROS2Connector = MagicMock(spec=ROS2Connector)
     available_feedbacks: Dict[str, List[Any]] = {}
     internal_action_id_mapping: Dict[str, str] = {}
-    action_feedbacks_store_lock: Lock = Lock()
+    # SkipValidation wrapper prevents Pydantic from attempting to validate the Lock object,
+    # which is a C built-in and cannot be validated as a Python type
+    action_feedbacks_store_lock: SkipValidation[Lock] = Lock()
 
     def _run(self, action_id: str) -> str:
         if action_id not in self.internal_action_id_mapping:
@@ -489,7 +491,9 @@ def _run(self, action_id: str) -> str:
 class MockGetROS2ActionResultTool(GetROS2ActionResultTool):
     available_results: Dict[str, Any] = {}
     internal_action_id_mapping: Dict[str, str] = {}
-    action_results_store_lock: Lock = Lock()
+    # SkipValidation wrapper prevents Pydantic from attempting to validate the Lock object,
+    # which is a C built-in and cannot be validated as a Python type
+    action_results_store_lock: SkipValidation[Lock] = Lock()
 
     def _run(self, action_id: str) -> str:
         if action_id not in self.internal_action_id_mapping:
diff --git a/src/rai_bringup/launch/openset.launch.py b/src/rai_bringup/launch/openset.launch.py
index 47ea9b9f4..218fe85c8 100644
--- a/src/rai_bringup/launch/openset.launch.py
+++ b/src/rai_bringup/launch/openset.launch.py
@@ -22,7 +22,7 @@ def generate_launch_description():
         [
             ExecuteProcess(
                 cmd=["python", "run_perception_agents.py"],
-                cwd="src/rai_extensions/rai_perception/scripts",
+                cwd="src/rai_extensions/rai_perception/rai_perception/scripts",
                 output="screen",
             ),
         ]
diff --git a/src/rai_core/pyproject.toml b/src/rai_core/pyproject.toml
index 7de9740e2..0e5b3d76b 100644
--- a/src/rai_core/pyproject.toml
+++ b/src/rai_core/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "poetry.core.masonry.api"
 
 [tool.poetry]
 name = "rai_core"
-version = "2.5.9"
+version = "2.5.10"
 description = "Core functionality for RAI framework"
 authors = ["Maciej Majek <maciej.majek@robotec.ai>", "Bartłomiej Boczek <bartlomiej.boczek@robotec.ai>", "Kajetan Rachwał <kajetan.rachwal@robotec.ai>"]
 readme = "README.md"
diff --git a/src/rai_core/rai/communication/ros2/api/conversion.py b/src/rai_core/rai/communication/ros2/api/conversion.py
index 23dc0891f..ac9550334 100644
--- a/src/rai_core/rai/communication/ros2/api/conversion.py
+++ b/src/rai_core/rai/communication/ros2/api/conversion.py
@@ -116,5 +116,6 @@ def convert_ros_img_to_base64(
         )
     else:
         cv_image = cv2.cvtColor(cv_image, cv2.COLOR_BGR2RGB)
-        image_data = cv2.imencode(".png", cv_image)[1].tostring()  # type: ignore
+        # Use tobytes() instead of deprecated tostring() (deprecated since NumPy 1.9.0, removed in 2.0.0)
+        image_data = cv2.imencode(".png", cv_image)[1].tobytes()  # type: ignore
         return base64.b64encode(image_data).decode("utf-8")  # type: ignore
diff --git a/src/rai_extensions/rai_perception/pyproject.toml b/src/rai_extensions/rai_perception/pyproject.toml
index 0ebeb0079..d844bd0fd 100644
--- a/src/rai_extensions/rai_perception/pyproject.toml
+++ b/src/rai_extensions/rai_perception/pyproject.toml
@@ -15,7 +15,7 @@ torch = "^2.3.1"
 torchvision = "^0.18.1"
 rf-groundingdino = "^0.2.0"
 # TODO(juliaj): test-pypi is for testing purpose only, update to rai-gsam2 info once it is published to pypi
-rai-gsam2 = { version = "1.0.0", source = "test-pypi" }
+rai-gsam2 = { version = "1.0.1", source = "test-pypi" }
 rai_core = ">=2.0.0.a2,<3.0.0"
 
 [build-system]
diff --git a/tests/agents/langchain/test_langchain_agent.py b/tests/agents/langchain/test_langchain_agent.py
index 44e883120..7cb0d5225 100644
--- a/tests/agents/langchain/test_langchain_agent.py
+++ b/tests/agents/langchain/test_langchain_agent.py
@@ -54,9 +54,13 @@ class TestTracingConfiguration:
 
     def test_tracing_with_missing_config_file(self):
         """Test that tracing gracefully handles missing config.toml file in langchain context."""
-        # This should not crash even without config.toml
-        callbacks = get_tracing_callbacks()
-        assert len(callbacks) == 0
+        # Mock load_config to simulate missing config file scenario.
+        # Without mocking, get_tracing_callbacks() would load the workspace's config.toml,
+        # If tracing is enabled, it'll prevent us from testing how it handles missing config files.
+        with patch("rai.initialization.model_initialization.load_config") as mock_load:
+            mock_load.side_effect = FileNotFoundError("Config file not found")
+            callbacks = get_tracing_callbacks()
+            assert len(callbacks) == 0
 
     def test_tracing_with_config_file_present(self, test_config_toml):
         """Test that tracing works when config.toml is present in langchain context."""
diff --git a/tests/initialization/test_model_initialization.py b/tests/initialization/test_model_initialization.py
index 70559547d..dcb262902 100644
--- a/tests/initialization/test_model_initialization.py
+++ b/tests/initialization/test_model_initialization.py
@@ -12,6 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import os
 from pathlib import Path
 
 import pytest
@@ -124,3 +125,29 @@ def test_get_llm_model_unknown_vendor_raises(tmp_path, monkeypatch):
 
     with pytest.raises(AttributeError, match="has no attribute 'unsupported'"):
         model_initialization.get_llm_model("simple_model", config_path=str(config_path))
+
+
+def test_load_config_default_path(tmp_path):
+    """Test that load_config() defaults to './config.toml' in current directory."""
+    # Create a config.toml in a temporary directory
+    _ = write_config(tmp_path / "config.toml", CONFIG_TEMPLATE)
+
+    # Change to that directory to test default path behavior
+    original_cwd = os.getcwd()
+    try:
+        os.chdir(tmp_path)
+
+        # Call load_config without arguments - should load from current directory
+        config = model_initialization.load_config()
+
+        # Verify config was loaded correctly
+        assert config.vendor.simple_model == "openai"
+        assert config.vendor.complex_model == "aws"
+        assert config.openai.simple_model == "gpt-4o-mini"
+        assert config.aws.region_name == "us-west-2"
+        assert config.tracing.project == "rai"
+        assert config.tracing.langfuse.use_langfuse is False
+
+    finally:
+        # Restore original directory
+        os.chdir(original_cwd)
diff --git a/tests/initialization/test_tracing.py b/tests/initialization/test_tracing.py
index 659941755..6b05599b1 100644
--- a/tests/initialization/test_tracing.py
+++ b/tests/initialization/test_tracing.py
@@ -23,9 +23,13 @@ class TestInitializationTracing:
 
     def test_tracing_with_missing_config_file(self):
         """Test that tracing gracefully handles missing config.toml file."""
-        # This should not crash even without config.toml
-        callbacks = get_tracing_callbacks()
-        assert len(callbacks) == 0
+        # Mock load_config to simulate missing config file scenario.
+        # Without mocking, get_tracing_callbacks() would load the workspace's config.toml,
+        # If tracing is enabled, it'll prevent us from testing how it handles missing config files.
+        with patch("rai.initialization.model_initialization.load_config") as mock_load:
+            mock_load.side_effect = FileNotFoundError("Config file not found")
+            callbacks = get_tracing_callbacks()
+            assert len(callbacks) == 0
 
     def test_tracing_with_config_file_present_tracing_disabled(self, test_config_toml):
         """Test that tracing works when config.toml is present but tracing is disabled."""
diff --git a/tests/rai_bringup/__init__.py b/tests/rai_bringup/__init__.py
new file mode 100644
index 000000000..97ceef6f0
--- /dev/null
+++ b/tests/rai_bringup/__init__.py
@@ -0,0 +1,13 @@
+# Copyright (C) 2025 Robotec.AI
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#         http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
diff --git a/tests/rai_bringup/test_openset_launch.py b/tests/rai_bringup/test_openset_launch.py
new file mode 100644
index 000000000..6645dd227
--- /dev/null
+++ b/tests/rai_bringup/test_openset_launch.py
@@ -0,0 +1,76 @@
+# Copyright (C) 2025 Robotec.AI
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#         http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import importlib.util
+import subprocess
+import sys
+import time
+from pathlib import Path
+
+import pytest
+
+# Import the launch file directly by path
+launch_file_path = (
+    Path(__file__).parent.parent.parent
+    / "src"
+    / "rai_bringup"
+    / "launch"
+    / "openset.launch.py"
+)
+spec = importlib.util.spec_from_file_location("openset_launch", launch_file_path)
+openset_launch = importlib.util.module_from_spec(spec)
+sys.modules["openset_launch"] = openset_launch
+spec.loader.exec_module(openset_launch)
+generate_launch_description = openset_launch.generate_launch_description
+
+
+class TestOpensetLaunch:
+    """Test cases for openset.launch.py"""
+
+    @pytest.mark.timeout(10)
+    def test_launch_process_starts_without_immediate_crash(self):
+        """Test that the launch process starts without immediately crashing (catches basic errors such as incorrect path to the Python script)."""
+        process = subprocess.Popen(
+            ["ros2", "launch", "rai_bringup", "openset.launch.py"],
+            stdout=subprocess.PIPE,
+            stderr=subprocess.PIPE,
+            text=True,
+        )
+
+        try:
+            # Wait a few seconds and verify process hasn't crashed
+            time.sleep(3)
+            poll_result = process.poll()
+
+            # If poll() returns None, process is still running (good)
+            # If it returns a code, process has exited (likely an error)
+            if poll_result is not None:
+                stdout, stderr = process.communicate(timeout=1)
+                error_msg = (
+                    f"Launch process exited prematurely with code {poll_result}\n"
+                )
+                if stderr:
+                    error_msg += f"STDERR:\n{stderr}"
+                if stdout:
+                    error_msg += f"\nSTDOUT:\n{stdout}"
+                assert False, error_msg
+
+        finally:
+            # Terminate the launch process
+            process.terminate()
+            try:
+                process.wait(timeout=5)
+            except subprocess.TimeoutExpired:
+                process.kill()
+                process.wait()