diff --git a/flake.nix b/flake.nix
index b22e144382..68dbf0ee8c 100644
--- a/flake.nix
+++ b/flake.nix
@@ -32,7 +32,7 @@
           { vals.pkg=pkgs.cctools;            flags={}; onlyIf=pkgs.stdenv.isDarwin; } # for pip install opencv-python
           { vals.pkg=pkgs.pcre2;              flags={ ldLibraryGroup=pkgs.stdenv.isDarwin; packageConfGroup=pkgs.stdenv.isDarwin; }; }
           { vals.pkg=pkgs.libsysprof-capture; flags.packageConfGroup=true; onlyIf=pkgs.stdenv.isDarwin; }
-          { vals.pkg=pkgs.xcbuild;            flags={}; }
+          { vals.pkg=pkgs.xcbuild;            flags={}; onlyIf=pkgs.stdenv.isDarwin; }
           { vals.pkg=pkgs.git-lfs;            flags={}; }
           { vals.pkg=pkgs.gnugrep;            flags={}; }
           { vals.pkg=pkgs.gnused;             flags={}; }
diff --git a/pyproject.toml b/pyproject.toml
index 74cd4b25e3..7e6ecf92d4 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -52,7 +52,8 @@ dependencies = [
     "colorlog==6.9.0",
     # Core Msgs
     "opencv-python",
-    "open3d",
+    "open3d-unofficial-arm; platform_system == 'Linux' and platform_machine == 'aarch64'",
+    "open3d>=0.18.0; platform_system != 'Linux' or platform_machine != 'aarch64'",
     # CLI
     "pydantic-settings>=2.11.0,<3",
     "textual==3.7.1",
@@ -171,7 +172,7 @@ unitree = [
 
 manipulation = [
     # Planning (Drake)
-    "drake>=1.40.0",
+    "drake>=1.40.0; platform_machine != 'aarch64'",
 
     # Hardware SDKs
     "piper-sdk",
@@ -195,13 +196,13 @@ cpu = [
 ]
 
 cuda = [
-    "cupy-cuda12x==13.6.0",
-    "nvidia-nvimgcodec-cu12[all]",
-    "onnxruntime-gpu>=1.17.1", # Only versions supporting both cuda11 and cuda12
+    "cupy-cuda12x==13.6.0; platform_machine == 'x86_64'",
+    "nvidia-nvimgcodec-cu12[all]; platform_machine == 'x86_64'",
+    "onnxruntime-gpu>=1.17.1; platform_machine == 'x86_64'", # Only versions supporting both cuda11 and cuda12
     "ctransformers[cuda]==0.2.27",
     "mmengine>=0.10.3",
     "mmcv>=2.1.0",
-    "xformers>=0.0.20",
+    "xformers>=0.0.20; platform_machine == 'x86_64'",
 ]
 
 dev = [
@@ -297,7 +298,8 @@ docker = [
     "sortedcontainers",
     "PyTurboJPEG",
     "rerun-sdk",
-    "open3d"
+    "open3d-unofficial-arm; platform_system == 'Linux' and platform_machine == 'aarch64'",
+    "open3d>=0.18.0; platform_system != 'Linux' or platform_machine != 'aarch64'",
 ]
 
 base = [
diff --git a/uv.lock b/uv.lock
index 0ebb790f87..1347ddb20d 100644
--- a/uv.lock
+++ b/uv.lock
@@ -400,10 +400,10 @@ name = "bitsandbytes"
 version = "0.49.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
-    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
-    { name = "packaging" },
-    { name = "torch" },
+    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11' and sys_platform != 'darwin' and sys_platform != 'win32'" },
+    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11' and sys_platform != 'darwin' and sys_platform != 'win32'" },
+    { name = "packaging", marker = "sys_platform != 'darwin' and sys_platform != 'win32'" },
+    { name = "torch", marker = "sys_platform != 'darwin' and sys_platform != 'win32'" },
 ]
 wheels = [
     { url = "https://files.pythonhosted.org/packages/11/dd/5820e09213a3f7c0ee5aff20fce8b362ce935f9dd9958827274de4eaeec6/bitsandbytes-0.49.1-py3-none-manylinux_2_24_aarch64.whl", hash = "sha256:acd4730a0db3762d286707f4a3bc1d013d21dd5f0e441900da57ec4198578d4e", size = 31065659, upload-time = "2026-01-08T14:31:28.676Z" },
@@ -1588,21 +1588,17 @@ name = "cupy-cuda12x"
 version = "13.6.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "fastrlock" },
-    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
-    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
+    { name = "fastrlock", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" },
+    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" },
 ]
 wheels = [
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     { url = "https://files.pythonhosted.org/packages/53/2b/8064d94a6ab6b5c4e643d8535ab6af6cabe5455765540931f0ef60a0bc3b/cupy_cuda12x-13.6.0-cp310-cp310-manylinux2014_x86_64.whl", hash = "sha256:e78409ea72f5ac7d6b6f3d33d99426a94005254fa57e10617f430f9fd7c3a0a1", size = 112238589, upload-time = "2025-08-18T08:24:15.541Z" },
     { url = "https://files.pythonhosted.org/packages/de/7b/bac3ca73e164d2b51c6298620261637c7286e06d373f597b036fc45f5563/cupy_cuda12x-13.6.0-cp310-cp310-win_amd64.whl", hash = "sha256:f33c9c975782ef7a42c79b6b4fb3d5b043498f9b947126d792592372b432d393", size = 89874119, upload-time = "2025-08-18T08:24:20.628Z" },
-    { url = "https://files.pythonhosted.org/packages/54/64/71c6e08f76c06639e5112f69ee3bc1129be00054ad5f906d7fd3138af579/cupy_cuda12x-13.6.0-cp311-cp311-manylinux2014_aarch64.whl", hash = "sha256:c790d012fd4d86872b9c89af9f5f15d91c30b8e3a4aa4dd04c2610f45f06ac44", size = 128016458, upload-time = "2025-08-18T08:24:26.394Z" },
     { url = "https://files.pythonhosted.org/packages/fc/d9/5c5077243cd92368c3eccecdbf91d76db15db338169042ffd1647533c6b1/cupy_cuda12x-13.6.0-cp311-cp311-manylinux2014_x86_64.whl", hash = "sha256:77ba6745a130d880c962e687e4e146ebbb9014f290b0a80dbc4e4634eb5c3b48", size = 113039337, upload-time = "2025-08-18T08:24:31.814Z" },
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     { url = "https://files.pythonhosted.org/packages/e0/95/d7e1295141e7d530674a3cc567e13ed0eb6b81524cb122d797ed996b5bea/cupy_cuda12x-13.6.0-cp312-cp312-manylinux2014_x86_64.whl", hash = "sha256:79b0cacb5e8b190ef409f9e03f06ac8de1b021b0c0dda47674d446f5557e0eb1", size = 112886268, upload-time = "2025-08-18T08:24:49.294Z" },
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-    { url = "https://files.pythonhosted.org/packages/19/ec/f62cb991f11fb41291c4c15b6936d7b67ffa71ddb344ad6e8894e06ce58d/cupy_cuda12x-13.6.0-cp313-cp313-manylinux2014_aarch64.whl", hash = "sha256:e5426ae3b1b9cf59927481e457a89e3f0b50a35b114a8034ec9110e7a833434c", size = 126904601, upload-time = "2025-08-18T08:24:59.951Z" },
     { url = "https://files.pythonhosted.org/packages/f8/b8/30127bcdac53a25f94ee201bf4802fcd8d012145567d77c54174d6d01c01/cupy_cuda12x-13.6.0-cp313-cp313-manylinux2014_x86_64.whl", hash = "sha256:52d9e7f83d920da7d81ec2e791c2c2c747fdaa1d7b811971b34865ce6371e98a", size = 112654824, upload-time = "2025-08-18T08:25:05.944Z" },
     { url = "https://files.pythonhosted.org/packages/72/36/c9e24acb19f039f814faea880b3704a3661edaa6739456b73b27540663e3/cupy_cuda12x-13.6.0-cp313-cp313-win_amd64.whl", hash = "sha256:297b4268f839de67ef7865c2202d3f5a0fb8d20bd43360bc51b6e60cb4406447", size = 89750580, upload-time = "2025-08-18T08:25:10.972Z" },
 ]
@@ -1762,7 +1758,8 @@ dependencies = [
     { name = "numba" },
     { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
     { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
-    { name = "open3d" },
+    { name = "open3d", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "open3d-unofficial-arm", marker = "platform_machine == 'aarch64' and sys_platform == 'linux'" },
     { name = "opencv-python" },
     { name = "pin" },
     { name = "plotext" },
@@ -1839,12 +1836,12 @@ cpu = [
 ]
 cuda = [
     { name = "ctransformers", extra = ["cuda"] },
-    { name = "cupy-cuda12x" },
+    { name = "cupy-cuda12x", marker = "platform_machine == 'x86_64'" },
     { name = "mmcv" },
     { name = "mmengine" },
-    { name = "nvidia-nvimgcodec-cu12", extra = ["all"] },
-    { name = "onnxruntime-gpu" },
-    { name = "xformers" },
+    { name = "nvidia-nvimgcodec-cu12", extra = ["all"], marker = "platform_machine == 'x86_64'" },
+    { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64'" },
+    { name = "xformers", marker = "platform_machine == 'x86_64'" },
 ]
 dds = [
     { name = "coverage" },
@@ -1927,7 +1924,8 @@ docker = [
     { name = "lcm" },
     { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
     { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
-    { name = "open3d" },
+    { name = "open3d", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "open3d-unofficial-arm", marker = "platform_machine == 'aarch64' and sys_platform == 'linux'" },
     { name = "opencv-python-headless" },
     { name = "plum-dispatch" },
     { name = "pydantic" },
@@ -1945,7 +1943,7 @@ drone = [
     { name = "pymavlink" },
 ]
 manipulation = [
-    { name = "drake" },
+    { name = "drake", marker = "platform_machine != 'aarch64'" },
     { name = "kaleido" },
     { name = "matplotlib" },
     { name = "piper-sdk" },
@@ -2055,7 +2053,7 @@ requires-dist = [
     { name = "coverage", marker = "extra == 'dev'", specifier = ">=7.0" },
     { name = "ctransformers", marker = "extra == 'cpu'", specifier = "==0.2.27" },
     { name = "ctransformers", extras = ["cuda"], marker = "extra == 'cuda'", specifier = "==0.2.27" },
-    { name = "cupy-cuda12x", marker = "extra == 'cuda'", specifier = "==13.6.0" },
+    { name = "cupy-cuda12x", marker = "platform_machine == 'x86_64' and extra == 'cuda'", specifier = "==13.6.0" },
     { name = "cyclonedds", marker = "extra == 'dds'", specifier = ">=0.10.5" },
     { name = "dask", extras = ["complete"], specifier = "==2025.5.1" },
     { name = "dask", extras = ["distributed"], marker = "extra == 'docker'", specifier = "==2025.5.1" },
@@ -2064,7 +2062,7 @@ requires-dist = [
     { name = "dimos", extras = ["dev"], marker = "extra == 'dds'" },
     { name = "dimos-lcm" },
     { name = "dimos-lcm", marker = "extra == 'docker'" },
-    { name = "drake", marker = "extra == 'manipulation'", specifier = ">=1.40.0" },
+    { name = "drake", marker = "platform_machine != 'aarch64' and extra == 'manipulation'", specifier = ">=1.40.0" },
     { name = "edgetam-dimos", marker = "extra == 'misc'" },
     { name = "einops", marker = "extra == 'misc'", specifier = "==0.8.1" },
     { name = "empy", marker = "extra == 'misc'", specifier = "==3.3.4" },
@@ -2100,15 +2098,17 @@ requires-dist = [
     { name = "numba", specifier = ">=0.60.0" },
     { name = "numpy", specifier = ">=1.26.4" },
     { name = "numpy", marker = "extra == 'docker'", specifier = ">=1.26.4" },
-    { name = "nvidia-nvimgcodec-cu12", extras = ["all"], marker = "extra == 'cuda'" },
+    { name = "nvidia-nvimgcodec-cu12", extras = ["all"], marker = "platform_machine == 'x86_64' and extra == 'cuda'" },
     { name = "ollama", marker = "extra == 'agents'", specifier = ">=0.6.0" },
     { name = "omegaconf", marker = "extra == 'perception'", specifier = ">=2.3.0" },
     { name = "onnx", marker = "extra == 'misc'" },
     { name = "onnxruntime", marker = "extra == 'cpu'" },
-    { name = "onnxruntime-gpu", marker = "extra == 'cuda'", specifier = ">=1.17.1" },
+    { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and extra == 'cuda'", specifier = ">=1.17.1" },
     { name = "open-clip-torch", marker = "extra == 'misc'", specifier = "==3.2.0" },
-    { name = "open3d" },
-    { name = "open3d", marker = "extra == 'docker'" },
+    { name = "open3d", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'", specifier = ">=0.18.0" },
+    { name = "open3d", marker = "(platform_machine != 'aarch64' and extra == 'docker') or (sys_platform != 'linux' and extra == 'docker')", specifier = ">=0.18.0" },
+    { name = "open3d-unofficial-arm", marker = "platform_machine == 'aarch64' and sys_platform == 'linux'" },
+    { name = "open3d-unofficial-arm", marker = "platform_machine == 'aarch64' and sys_platform == 'linux' and extra == 'docker'" },
     { name = "openai", marker = "extra == 'agents'" },
     { name = "openai-whisper", marker = "extra == 'agents'" },
     { name = "opencv-contrib-python", marker = "extra == 'misc'", specifier = "==4.10.0.84" },
@@ -2199,7 +2199,7 @@ requires-dist = [
     { name = "xacro", marker = "extra == 'manipulation'" },
     { name = "xarm-python-sdk", marker = "extra == 'manipulation'", specifier = ">=1.17.0" },
     { name = "xarm-python-sdk", marker = "extra == 'misc'", specifier = ">=1.17.0" },
-    { name = "xformers", marker = "extra == 'cuda'", specifier = ">=0.0.20" },
+    { name = "xformers", marker = "platform_machine == 'x86_64' and extra == 'cuda'", specifier = ">=0.0.20" },
     { name = "yapf", marker = "extra == 'misc'", specifier = "==0.40.2" },
 ]
 provides-extras = ["misc", "visualization", "agents", "web", "perception", "unitree", "manipulation", "cpu", "cuda", "dev", "psql", "sim", "drone", "dds", "docker", "base"]
@@ -2308,12 +2308,12 @@ name = "drake"
 version = "1.49.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "matplotlib" },
-    { name = "mosek", marker = "python_full_version < '3.15'" },
-    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" },
-    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" },
-    { name = "pydot" },
-    { name = "pyyaml" },
+    { name = "matplotlib", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "mosek", marker = "(python_full_version < '3.15' and platform_machine != 'aarch64') or (python_full_version < '3.15' and sys_platform != 'linux')" },
+    { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.11' and platform_machine != 'aarch64') or (python_full_version < '3.11' and sys_platform != 'linux')" },
+    { name = "numpy", version = "2.3.5", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.11' and platform_machine != 'aarch64') or (python_full_version >= '3.11' and sys_platform != 'linux')" },
+    { name = "pydot", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
+    { name = "pyyaml", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
 ]
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@@ -2438,7 +2438,7 @@ name = "exceptiongroup"
 version = "1.3.1"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
-    { name = "typing-extensions", marker = "python_full_version < '3.13'" },
+    { name = "typing-extensions", marker = "python_full_version < '3.11'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/50/79/66800aadf48771f6b62f7eb014e352e5d06856655206165d775e675a02c9/exceptiongroup-1.3.1.tar.gz", hash = "sha256:8b412432c6055b0b7d14c310000ae93352ed6754f70fa8f7c34141f91c4e3219", size = 30371, upload-time = "2025-11-21T23:01:54.787Z" }
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@@ -2601,31 +2601,21 @@ source = { registry = "https://pypi.org/simple" }
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