diff --git a/motrix_deploy/pyproject.toml b/motrix_deploy/pyproject.toml
index 45abe52f..976f7a95 100644
--- a/motrix_deploy/pyproject.toml
+++ b/motrix_deploy/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "uv_build"
 
 [project]
 name = "motrix-deploy"
-version = "0.4.0b0"
+version = "0.4.0b1"
 description = "Framework-independent policy deployment runtime for MotrixLab."
 authors = [{ name = "Motphys", email = "developers@motphys.com" }]
 requires-python = ">=3.10,<3.14"
@@ -34,7 +34,7 @@ classifiers = [
 # every deployment runtime needs it for inference.
 dependencies = [
     "hydra-core>=1.3,<1.4",
-    "motrix-env-core==0.4.0b0",
+    "motrix-env-core==0.4.0b1",
     "numpy>=1.26",
     "onnxruntime==1.23.2",
     "pydantic===2.12.5",
diff --git a/motrix_deploy_motrixsim/pyproject.toml b/motrix_deploy_motrixsim/pyproject.toml
index 72f192f5..01d86140 100644
--- a/motrix_deploy_motrixsim/pyproject.toml
+++ b/motrix_deploy_motrixsim/pyproject.toml
@@ -4,15 +4,15 @@ build-backend = "uv_build"
 
 [project]
 name = "motrix-deploy-motrixsim"
-version = "0.4.0b0"
+version = "0.4.0b1"
 description = "Native SceneCfg-backed MotrixSim deployment runtime plugin."
 authors = [{ name = "Motphys", email = "developers@motphys.com" }]
 requires-python = "==3.10.*"
 readme = "README.md"
 license = "Apache-2.0"
 dependencies = [
-    "motrix-deploy==0.4.0b0",
-    "motrix-env-motrixsim==0.4.0b0",
+    "motrix-deploy==0.4.0b1",
+    "motrix-env-motrixsim==0.4.0b1",
     "numpy>=1.26",
 ]
 
diff --git a/motrix_deploy_mujoco/pyproject.toml b/motrix_deploy_mujoco/pyproject.toml
index fc95700e..d0953a96 100644
--- a/motrix_deploy_mujoco/pyproject.toml
+++ b/motrix_deploy_mujoco/pyproject.toml
@@ -4,15 +4,15 @@ build-backend = "uv_build"
 
 [project]
 name = "motrix-deploy-mujoco"
-version = "0.4.0b0"
+version = "0.4.0b1"
 description = "SceneCfg-backed MuJoCo plugin for the Motrix deployment runtime."
 authors = [{ name = "Motphys", email = "developers@motphys.com" }]
 requires-python = "==3.10.*"
 readme = "README.md"
 license = "Apache-2.0"
 dependencies = [
-    "motrix-deploy==0.4.0b0",
-    "motrix-env-mujoco==0.4.0b0",
+    "motrix-deploy==0.4.0b1",
+    "motrix-env-mujoco==0.4.0b1",
     "hydra-core>=1.3",
     "numpy>=1.26",
 ]
diff --git a/motrix_deploy_tasks/pyproject.toml b/motrix_deploy_tasks/pyproject.toml
index 79101f2b..2aaaea68 100644
--- a/motrix_deploy_tasks/pyproject.toml
+++ b/motrix_deploy_tasks/pyproject.toml
@@ -4,16 +4,16 @@ build-backend = "uv_build"
 
 [project]
 name = "motrix-deploy-tasks"
-version = "0.4.0b0"
+version = "0.4.0b1"
 description = "Concrete policy deployment tasks for MotrixLab."
 authors = [{ name = "Motphys", email = "developers@motphys.com" }]
 requires-python = "==3.10.*"
 readme = "README.md"
 license = "Apache-2.0"
 dependencies = [
-    "motrix-deploy==0.4.0b0",
-    "motrix-env-core==0.4.0b0",
-    "motrix-robots==0.4.0b0",
+    "motrix-deploy==0.4.0b1",
+    "motrix-env-core==0.4.0b1",
+    "motrix-robots==0.4.0b1",
     "hydra-core>=1.3,<1.4",
     "numpy>=1.26",
 ]
diff --git a/motrix_deploy_unitree/pyproject.toml b/motrix_deploy_unitree/pyproject.toml
index aa661037..250b8ca5 100644
--- a/motrix_deploy_unitree/pyproject.toml
+++ b/motrix_deploy_unitree/pyproject.toml
@@ -4,15 +4,15 @@ build-backend = "uv_build"
 
 [project]
 name = "motrix-deploy-unitree"
-version = "0.4.0b0"
+version = "0.4.0b1"
 description = "Unitree SDK2 DDS hardware plugin for the Motrix deployment runtime."
 authors = [{ name = "Motphys", email = "developers@motphys.com" }]
 requires-python = "==3.10.*"
 readme = "README.md"
 license = "Apache-2.0"
 dependencies = [
-    "motrix-deploy==0.4.0b0",
-    "motrix-env-core==0.4.0b0",
+    "motrix-deploy==0.4.0b1",
+    "motrix-env-core==0.4.0b1",
     "hydra-core>=1.3,<1.4",
     "numpy>=1.26",
     "unitree-sdk2py",
diff --git a/motrix_env_core/pyproject.toml b/motrix_env_core/pyproject.toml
index 787e271f..4446372b 100644
--- a/motrix_env_core/pyproject.toml
+++ b/motrix_env_core/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "uv_build"
 
 [project]
 name = "motrix-env-core"
-version = "0.4.0b0"
+version = "0.4.0b1"
 description = "Backend-neutral framework APIs and runtime facilities for building reinforcement learning environments."
 authors = [{ name = "Motphys", email = "developers@motphys.com" }]
 requires-python = ">=3.10,<3.14"
diff --git a/motrix_env_motrixsim/pyproject.toml b/motrix_env_motrixsim/pyproject.toml
index 50059c81..cefbdf3f 100644
--- a/motrix_env_motrixsim/pyproject.toml
+++ b/motrix_env_motrixsim/pyproject.toml
@@ -4,14 +4,14 @@ build-backend = "uv_build"
 
 [project]
 name = "motrix-env-motrixsim"
-version = "0.4.0b0"
+version = "0.4.0b1"
 description = "MotrixSim simulation backend for the motrix-env-core environment framework."
 authors = [{ name = "Motphys", email = "developers@motphys.com" }]
 requires-python = "==3.10.*"
 readme = "README.md"
 license = "Apache-2.0"
 dependencies = [
-    "motrix-env-core==0.4.0b0",
+    "motrix-env-core==0.4.0b1",
     "motrixsim==0.10.1",
     "numpy>=1.26",
 ]
diff --git a/motrix_env_mujoco/pyproject.toml b/motrix_env_mujoco/pyproject.toml
index b698eff8..917d867e 100644
--- a/motrix_env_mujoco/pyproject.toml
+++ b/motrix_env_mujoco/pyproject.toml
@@ -4,14 +4,14 @@ build-backend = "uv_build"
 
 [project]
 name = "motrix-env-mujoco"
-version = "0.4.0b0"
+version = "0.4.0b1"
 description = "Compile-only MuJoCo scene backend for the motrix-env-core environment framework."
 authors = [{ name = "Motphys", email = "developers@motphys.com" }]
 requires-python = "==3.10.*"
 readme = "README.md"
 license = "Apache-2.0"
 dependencies = [
-    "motrix-env-core==0.4.0b0",
+    "motrix-env-core==0.4.0b1",
     "mujoco==3.9.0",
     "numpy>=1.26",
 ]
diff --git a/motrix_envs/pyproject.toml b/motrix_envs/pyproject.toml
index 1ebc438e..18a82f40 100644
--- a/motrix_envs/pyproject.toml
+++ b/motrix_envs/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "uv_build"
 
 [project]
 name = "motrix-envs"
-version = "0.4.0b0"
+version = "0.4.0b1"
 description = "Robot simulation environment library based on MotrixSim providing multi-task RL environments."
 authors = [{ name = "Motphys", email = "developers@motphys.com" }]
 requires-python = "==3.10.*"
@@ -12,12 +12,12 @@ readme = "README.md"
 license = "Apache-2.0"
 dependencies = [
     "gymnasium==1.1.1",
-    "motrix-env-core[numba,video]==0.4.0b0",
-    "motrix-env-motrixsim==0.4.0b0",
-    "motrix-robots==0.4.0b0",
+    "motrix-env-core[numba,video]==0.4.0b1",
+    "motrix-env-motrixsim==0.4.0b1",
+    "motrix-robots==0.4.0b1",
     "numpy>=1.26",
     "omegaconf>=2.3,<2.4",
 ]
 
 [project.optional-dependencies]
-deploy = ["motrix-deploy==0.4.0b0", "motrix-deploy-tasks==0.4.0b0"]
+deploy = ["motrix-deploy==0.4.0b1", "motrix-deploy-tasks==0.4.0b1"]
diff --git a/motrix_rl/pyproject.toml b/motrix_rl/pyproject.toml
index a2c8b9fb..a68ee4ab 100644
--- a/motrix_rl/pyproject.toml
+++ b/motrix_rl/pyproject.toml
@@ -4,7 +4,7 @@ build-backend = "uv_build"
 
 [project]
 name = "motrix-rl"
-version = "0.4.0b0"
+version = "0.4.0b1"
 description = "Reinforcement learning training framework with multi-backend unified training interface."
 authors = [{ name = "Motphys", email = "developers@motphys.com" }]
 requires-python = ">=3.10,<3.14"
@@ -31,10 +31,10 @@ classifiers = [
 ]
 dependencies = [
     "gymnasium==1.1.1",
-    "motrix-env-core[numba,video]==0.4.0b0",
+    "motrix-env-core[numba,video]==0.4.0b1",
     "rich>=13",
     "hydra-core>=1.3,<1.4",
-    "motrix-deploy==0.4.0b0",
+    "motrix-deploy==0.4.0b1",
     "numpy>=1.26",
     "omegaconf>=2.3,<2.4",
     "nvidia-ml-py>=13.610.43",
diff --git a/motrix_rl_builtin/pyproject.toml b/motrix_rl_builtin/pyproject.toml
index 8b03febf..6a7f3434 100644
--- a/motrix_rl_builtin/pyproject.toml
+++ b/motrix_rl_builtin/pyproject.toml
@@ -4,14 +4,14 @@ build-backend = "uv_build"
 
 [project]
 name = "motrix-rl-builtin"
-version = "0.4.0b0"
+version = "0.4.0b1"
 description = "MotrixLab built-in reinforcement learning algorithms."
 authors = [{ name = "Motphys", email = "developers@motphys.com" }]
 requires-python = "==3.10.*"
 readme = "README.md"
 license = "Apache-2.0"
 dependencies = [
-    "motrix-rl==0.4.0b0",
+    "motrix-rl==0.4.0b1",
     "gymnasium==1.1.1",
     "numpy>=1.26",
     "torch>=2.7,<3",
diff --git a/motrix_rl_rslrl/pyproject.toml b/motrix_rl_rslrl/pyproject.toml
index 2752cdad..6249ec9e 100644
--- a/motrix_rl_rslrl/pyproject.toml
+++ b/motrix_rl_rslrl/pyproject.toml
@@ -4,14 +4,14 @@ build-backend = "uv_build"
 
 [project]
 name = "motrix-rl-rslrl"
-version = "0.4.0b0"
+version = "0.4.0b1"
 description = "RSLRL plugin for MotrixLab reinforcement learning."
 authors = [{ name = "Motphys", email = "developers@motphys.com" }]
 requires-python = "==3.10.*"
 readme = "README.md"
 license = "Apache-2.0"
 dependencies = [
-    "motrix-rl==0.4.0b0",
+    "motrix-rl==0.4.0b1",
     "torch>=2.7,<3",
     "rsl-rl-lib>=4.0,<5.0",
 ]
diff --git a/motrix_rl_skrl/pyproject.toml b/motrix_rl_skrl/pyproject.toml
index 07894cc5..4dff6446 100644
--- a/motrix_rl_skrl/pyproject.toml
+++ b/motrix_rl_skrl/pyproject.toml
@@ -4,14 +4,14 @@ build-backend = "uv_build"
 
 [project]
 name = "motrix-rl-skrl"
-version = "0.4.0b0"
+version = "0.4.0b1"
 description = "SKRL plugin for MotrixLab reinforcement learning."
 authors = [{ name = "Motphys", email = "developers@motphys.com" }]
 requires-python = "==3.10.*"
 readme = "README.md"
 license = "Apache-2.0"
 dependencies = [
-    "motrix-rl==0.4.0b0",
+    "motrix-rl==0.4.0b1",
     "skrl>=2.1,<2.2",
     "torch>=2.7,<3",
 ]
diff --git a/motrix_robots/pyproject.toml b/motrix_robots/pyproject.toml
index 3e3d1cad..d0acb104 100644
--- a/motrix_robots/pyproject.toml
+++ b/motrix_robots/pyproject.toml
@@ -4,13 +4,13 @@ build-backend = "uv_build"
 
 [project]
 name = "motrix-robots"
-version = "0.4.0b0"
+version = "0.4.0b1"
 description = "Simulation robot configurations and model assets for MotrixLab."
 authors = [{ name = "Motphys", email = "developers@motphys.com" }]
 requires-python = "==3.10.*"
 readme = "README.md"
 license = "Apache-2.0"
-dependencies = ["motrix-env-core==0.4.0b0"]
+dependencies = ["motrix-env-core==0.4.0b1"]
 
 [project.entry-points."motrix_env_core.robots"]
 builtin = "motrix_robots.registration:register"
diff --git a/pyproject.toml b/pyproject.toml
index ee7d9cd1..00fed928 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,27 +1,27 @@
 [project]
 name = "motrix-lab"
-version = "0.4.0b0"
+version = "0.4.0b1"
 description = "A general-purpose machine learning architecture designed for robot training"
 authors = [{ name = "Motphys", email = "developers@motphys.com" }]
 requires-python = ">=3.10,<3.14"
 dependencies = [
-    "motrix-deploy==0.4.0b0",
-    "motrix-deploy-mujoco==0.4.0b0",
-    "motrix-deploy-motrixsim==0.4.0b0",
-    "motrix-deploy-tasks==0.4.0b0",
-    "motrix-env-motrixsim==0.4.0b0",
-    "motrix-env-mujoco==0.4.0b0",
-    "motrix-envs==0.4.0b0",
-    "motrix-rl==0.4.0b0",
-    "motrix-rl-builtin==0.4.0b0",
-    "motrix-rl-skrl==0.4.0b0",
+    "motrix-deploy==0.4.0b1",
+    "motrix-deploy-mujoco==0.4.0b1",
+    "motrix-deploy-motrixsim==0.4.0b1",
+    "motrix-deploy-tasks==0.4.0b1",
+    "motrix-env-motrixsim==0.4.0b1",
+    "motrix-env-mujoco==0.4.0b1",
+    "motrix-envs==0.4.0b1",
+    "motrix-rl==0.4.0b1",
+    "motrix-rl-builtin==0.4.0b1",
+    "motrix-rl-skrl==0.4.0b1",
 ]
 
 [project.optional-dependencies]
-rslrl = ["motrix-rl-rslrl==0.4.0b0"]
-skrl-jax = ["motrix-rl-skrl[jax]==0.4.0b0"]
+rslrl = ["motrix-rl-rslrl==0.4.0b1"]
+skrl-jax = ["motrix-rl-skrl[jax]==0.4.0b1"]
 unitree = [
-    "motrix-deploy-unitree==0.4.0b0",
+    "motrix-deploy-unitree==0.4.0b1",
 ]
 docs = [
     "sphinx",
@@ -50,7 +50,7 @@ cuda = [
 # machines (see motrix-env-core's tbb extra); optional, combines with any
 # GPU profile.
 tbb = [
-    "motrix-env-core[tbb]==0.4.0b0",
+    "motrix-env-core[tbb]==0.4.0b1",
 ]
 # ROCm wheels only exist for Linux x86_64; the markers keep other platforms
 # from resolving these requirements against the default (PyPI) index.
@@ -71,7 +71,7 @@ dev = [
 test = [
     { include-group = "dev" },
     "hydra-core>=1.3,<1.4",
-    "motrix-deploy-unitree==0.4.0b0",
+    "motrix-deploy-unitree==0.4.0b1",
 ]
 
 [tool.uv.workspace]
diff --git a/uv.lock b/uv.lock
index bad9b3d2..70b37250 100644
--- a/uv.lock
+++ b/uv.lock
@@ -969,7 +969,7 @@ wheels = [
 
 [[package]]
 name = "motrix-deploy"
-version = "0.4.0b0"
+version = "0.4.0b1"
 source = { editable = "motrix_deploy" }
 dependencies = [
     { name = "hydra-core" },
@@ -990,7 +990,7 @@ requires-dist = [
 
 [[package]]
 name = "motrix-deploy-motrixsim"
-version = "0.4.0b0"
+version = "0.4.0b1"
 source = { editable = "motrix_deploy_motrixsim" }
 dependencies = [
     { name = "motrix-deploy" },
@@ -1007,7 +1007,7 @@ requires-dist = [
 
 [[package]]
 name = "motrix-deploy-mujoco"
-version = "0.4.0b0"
+version = "0.4.0b1"
 source = { editable = "motrix_deploy_mujoco" }
 dependencies = [
     { name = "hydra-core" },
@@ -1026,7 +1026,7 @@ requires-dist = [
 
 [[package]]
 name = "motrix-deploy-tasks"
-version = "0.4.0b0"
+version = "0.4.0b1"
 source = { editable = "motrix_deploy_tasks" }
 dependencies = [
     { name = "hydra-core" },
@@ -1047,7 +1047,7 @@ requires-dist = [
 
 [[package]]
 name = "motrix-deploy-unitree"
-version = "0.4.0b0"
+version = "0.4.0b1"
 source = { editable = "motrix_deploy_unitree" }
 dependencies = [
     { name = "hydra-core" },
@@ -1068,7 +1068,7 @@ requires-dist = [
 
 [[package]]
 name = "motrix-env-core"
-version = "0.4.0b0"
+version = "0.4.0b1"
 source = { editable = "motrix_env_core" }
 dependencies = [
     { name = "array-api-compat" },
@@ -1115,7 +1115,7 @@ provides-extras = ["numba", "video", "all", "tbb"]
 
 [[package]]
 name = "motrix-env-motrixsim"
-version = "0.4.0b0"
+version = "0.4.0b1"
 source = { editable = "motrix_env_motrixsim" }
 dependencies = [
     { name = "motrix-env-core" },
@@ -1132,7 +1132,7 @@ requires-dist = [
 
 [[package]]
 name = "motrix-env-mujoco"
-version = "0.4.0b0"
+version = "0.4.0b1"
 source = { editable = "motrix_env_mujoco" }
 dependencies = [
     { name = "motrix-env-core" },
@@ -1149,7 +1149,7 @@ requires-dist = [
 
 [[package]]
 name = "motrix-envs"
-version = "0.4.0b0"
+version = "0.4.0b1"
 source = { editable = "motrix_envs" }
 dependencies = [
     { name = "gymnasium" },
@@ -1181,7 +1181,7 @@ provides-extras = ["deploy"]
 
 [[package]]
 name = "motrix-lab"
-version = "0.4.0b0"
+version = "0.4.0b1"
 source = { virtual = "." }
 dependencies = [
     { name = "motrix-deploy" },
@@ -1307,7 +1307,7 @@ test = [
 
 [[package]]
 name = "motrix-rl"
-version = "0.4.0b0"
+version = "0.4.0b1"
 source = { editable = "motrix_rl" }
 dependencies = [
     { name = "gymnasium" },
@@ -1340,7 +1340,7 @@ requires-dist = [
 
 [[package]]
 name = "motrix-rl-builtin"
-version = "0.4.0b0"
+version = "0.4.0b1"
 source = { editable = "motrix_rl_builtin" }
 dependencies = [
     { name = "gymnasium" },
@@ -1361,7 +1361,7 @@ requires-dist = [
 
 [[package]]
 name = "motrix-rl-rslrl"
-version = "0.4.0b0"
+version = "0.4.0b1"
 source = { editable = "motrix_rl_rslrl" }
 dependencies = [
     { name = "motrix-rl" },
@@ -1380,7 +1380,7 @@ requires-dist = [
 
 [[package]]
 name = "motrix-rl-skrl"
-version = "0.4.0b0"
+version = "0.4.0b1"
 source = { editable = "motrix_rl_skrl" }
 dependencies = [
     { name = "motrix-rl" },
@@ -1410,7 +1410,7 @@ provides-extras = ["jax"]
 
 [[package]]
 name = "motrix-robots"
-version = "0.4.0b0"
+version = "0.4.0b1"
 source = { editable = "motrix_robots" }
 dependencies = [
     { name = "motrix-env-core" },