diff --git a/.github/workflows/gpu_test.yml b/.github/workflows/gpu_test.yml
index 37b01da..bcfa7bf 100644
--- a/.github/workflows/gpu_test.yml
+++ b/.github/workflows/gpu_test.yml
@@ -22,6 +22,10 @@ on:
 permissions:
   contents: read  # Required for actions/checkout
 
+env:
+  MUJOCO_GL: "egl"
+  PYOPENGL_PLATFORM: "egl"
+
 jobs:
   start-runner:
     name: Start GPU Runner
@@ -34,7 +38,7 @@ jobs:
         uses: aws-actions/configure-aws-credentials@v4
         with:
           role-to-assume: ${{ secrets.AWS_ROLE_ARN }}
-          aws-region: us-west-1
+          aws-region: us-west-2
 
       - name: Start Instance
         run: |
@@ -44,7 +48,7 @@ jobs:
   gpu-test:
     name: Run Pytest on GPU
     needs: start-runner
-    runs-on: [g6.xlarge]
+    runs-on: [g6.2xlarge]
     timeout-minutes: 60
 
     container:
@@ -57,18 +61,37 @@ jobs:
         with:
           persist-credentials: false
 
-      - name: Install Python and dependencies
+      - name: Install system dependencies
+        run: |
+          apt-get update && apt-get install -y python3 python3-pip git ffmpeg libegl1 libegl-mesa0 libegl-dev libgl1 libglx-mesa0 libgles2 mesa-utils curl cmake build-essential
+
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
+        with:
+          version: "latest"
+
+      - name: Install dependencies
         run: |
-          apt-get update && apt-get install -y python3 python3-pip git
-          pip3 install pytest torch torchvision --index-url https://download.pytorch.org/whl/cu121
-          # Install other dependencies
-          if [ -f requirements.txt ]; then pip3 install -r requirements.txt; fi
+          uv sync --extra dev --extra libero --extra openai
 
       - name: Check GPU
         run: nvidia-smi
 
+      - name: Set up HuggingFace authentication
+        shell: bash
+        env:
+          HF_TOKEN: ${{ secrets.HF_TOKEN }}
+        run: |
+          source .venv/bin/activate
+          hf auth login --token $HF_TOKEN
+
       - name: Run Tests
-        run: pytest -m "gpu" -n 0 -v tests/
+        shell: bash
+        run: |
+          source .venv/bin/activate
+          mkdir -p /tmp/libero-assets/libero/libero
+          export LIBERO_CONFIG_PATH="$(pwd)/.github/assets/libero"
+          pytest -m "gpu" -n 0 -v tests/
 
   stop-runner:
     name: Stop GPU Runner
@@ -83,7 +106,7 @@ jobs:
         uses: aws-actions/configure-aws-credentials@v4
         with:
           role-to-assume: ${{ secrets.AWS_ROLE_ARN }}
-          aws-region: us-west-1
+          aws-region: us-west-2
 
       - name: Stop Instance
         run: |