diff --git a/packages/README.md b/packages/README.md
index 9264737..6f76644 100644
--- a/packages/README.md
+++ b/packages/README.md
@@ -1,9 +1,13 @@
 # Extension Packages
 
 This folder contains Python package splits for provider-specific integrations.
+Each package re-exports the relevant subset of the core `rfx-sdk` so users can
+install only what they need.
 
-- `rfx-sdk-sim`: simulation backends and simulation-specific controllers
-- `rfx-sdk-go2`: Unitree Go2 integrations
-- `rfx-sdk-lerobot`: LeRobot recorder/export helpers
+| Package | Install | Provides |
+|---------|---------|----------|
+| `rfx-sdk-go2` | `pip install rfx-sdk-go2` | `Go2Robot`, `Go2Backend`, `Go2Env`, `make_go2` factory |
+| `rfx-sdk-sim` | `pip install rfx-sdk-sim` | `SimRobot`, `MockRobot`, `BaseEnv`, `VecEnv`, `make_vec_env` |
+| `rfx-sdk-lerobot` | `pip install rfx-sdk-lerobot` | `collect`, `Dataset`, `Recorder`, `LeRobotPackageWriter`, Hub helpers |
 
 The base Python import remains `rfx` (published as `rfx-sdk`).
diff --git a/packages/rfx-go2/pyproject.toml b/packages/rfx-go2/pyproject.toml
index 0ca1a6f..363b07c 100644
--- a/packages/rfx-go2/pyproject.toml
+++ b/packages/rfx-go2/pyproject.toml
@@ -7,7 +7,7 @@ name = "rfx-sdk-go2"
 version = "0.2.0"
 description = "Unitree Go2 integrations for rfx"
 requires-python = ">=3.13"
-dependencies = ["rfx-sdk>=0.2.0"]
+dependencies = ["rfx-sdk[teleop]>=0.2.0", "torch>=2.2"]
 
 [tool.setuptools]
 package-dir = {"" = "src"}
diff --git a/packages/rfx-go2/src/rfx_go2/__init__.py b/packages/rfx-go2/src/rfx_go2/__init__.py
index 72aad72..ca2c385 100644
--- a/packages/rfx-go2/src/rfx_go2/__init__.py
+++ b/packages/rfx-go2/src/rfx_go2/__init__.py
@@ -1,3 +1,34 @@
-"""rfx-sdk-go2 package scaffold."""
+"""rfx-sdk-go2 — Unitree Go2 integrations for rfx.
 
-__all__ = []
+Convenience package that re-exports Go2-specific components from the core
+``rfx-sdk`` so users can ``pip install rfx-sdk-go2`` for a focused install.
+
+Example::
+
+    from rfx_go2 import Go2Robot, Go2Backend
+    robot = Go2Robot(ip_address="192.168.123.161")
+    obs = robot.observe()
+"""
+
+from __future__ import annotations
+
+from rfx.envs import Go2Env
+
+try:
+    from rfx.real.go2 import Go2Backend, Go2Robot
+except ModuleNotFoundError as exc:
+    raise ModuleNotFoundError(
+        "rfx-sdk-go2 requires torch. Install with: pip install rfx-sdk[teleop]"
+    ) from exc
+
+try:
+    from rfx.robot.lerobot import go2 as make_go2
+except ModuleNotFoundError:
+    make_go2 = None  # type: ignore[assignment]
+
+__all__ = [
+    "Go2Backend",
+    "Go2Env",
+    "Go2Robot",
+    "make_go2",
+]
diff --git a/packages/rfx-lerobot/pyproject.toml b/packages/rfx-lerobot/pyproject.toml
index 26b7ca9..869c42f 100644
--- a/packages/rfx-lerobot/pyproject.toml
+++ b/packages/rfx-lerobot/pyproject.toml
@@ -7,7 +7,7 @@ name = "rfx-sdk-lerobot"
 version = "0.2.0"
 description = "LeRobot integration package for rfx"
 requires-python = ">=3.13"
-dependencies = ["rfx-sdk>=0.2.0", "lerobot"]
+dependencies = ["rfx-sdk[collection]>=0.2.0"]
 
 [tool.setuptools]
 package-dir = {"" = "src"}
diff --git a/packages/rfx-lerobot/src/rfx_lerobot/__init__.py b/packages/rfx-lerobot/src/rfx_lerobot/__init__.py
index d3ce745..9d003da 100644
--- a/packages/rfx-lerobot/src/rfx_lerobot/__init__.py
+++ b/packages/rfx-lerobot/src/rfx_lerobot/__init__.py
@@ -1,3 +1,29 @@
-"""rfx-sdk-lerobot package scaffold."""
+"""rfx-sdk-lerobot — LeRobot integration package for rfx.
 
-__all__ = []
+Convenience package that re-exports LeRobot data-collection and dataset
+components from the core ``rfx-sdk`` so users can
+``pip install rfx-sdk-lerobot`` for a focused install.
+
+Example::
+
+    from rfx_lerobot import collect, Dataset
+    dataset = collect("so101", "my-org/demos", episodes=10)
+    dataset.push()
+"""
+
+from __future__ import annotations
+
+from rfx.collection import Dataset, Recorder, collect, from_hub, open_dataset, pull, push
+from rfx.teleop.lerobot_writer import LeRobotExportConfig, LeRobotPackageWriter
+
+__all__ = [
+    "Dataset",
+    "LeRobotExportConfig",
+    "LeRobotPackageWriter",
+    "Recorder",
+    "collect",
+    "from_hub",
+    "open_dataset",
+    "pull",
+    "push",
+]
diff --git a/packages/rfx-sim/pyproject.toml b/packages/rfx-sim/pyproject.toml
index af7eb0a..3c44528 100644
--- a/packages/rfx-sim/pyproject.toml
+++ b/packages/rfx-sim/pyproject.toml
@@ -7,7 +7,7 @@ name = "rfx-sdk-sim"
 version = "0.2.0"
 description = "Simulation adapters and controllers for rfx"
 requires-python = ">=3.13"
-dependencies = ["rfx-sdk>=0.2.0"]
+dependencies = ["rfx-sdk[sim-mock]>=0.2.0", "torch>=2.2"]
 
 [tool.setuptools]
 package-dir = {"" = "src"}
diff --git a/packages/rfx-sim/src/rfx_sim/__init__.py b/packages/rfx-sim/src/rfx_sim/__init__.py
index 84b51b1..efcddc1 100644
--- a/packages/rfx-sim/src/rfx_sim/__init__.py
+++ b/packages/rfx-sim/src/rfx_sim/__init__.py
@@ -1,3 +1,31 @@
-"""rfx-sdk-sim package scaffold."""
+"""rfx-sdk-sim — Simulation adapters and controllers for rfx.
 
-__all__ = []
+Convenience package that re-exports simulation components from the core
+``rfx-sdk`` so users can ``pip install rfx-sdk-sim`` for a focused install.
+
+Example::
+
+    from rfx_sim import SimRobot, MockRobot
+    robot = SimRobot.from_config("so101.yaml", backend="mock", num_envs=16)
+    obs = robot.observe()
+"""
+
+from __future__ import annotations
+
+from rfx.envs import BaseEnv, Box, VecEnv, make_vec_env
+
+try:
+    from rfx.sim import MockRobot, SimRobot
+except ModuleNotFoundError as exc:
+    raise ModuleNotFoundError(
+        "rfx-sdk-sim requires torch. Install with: pip install rfx-sdk[sim-mock]"
+    ) from exc
+
+__all__ = [
+    "BaseEnv",
+    "Box",
+    "MockRobot",
+    "SimRobot",
+    "VecEnv",
+    "make_vec_env",
+]
diff --git a/rfx/tests/test_decorators.py b/rfx/tests/test_decorators.py
index ccc377e..28e5e30 100644
--- a/rfx/tests/test_decorators.py
+++ b/rfx/tests/test_decorators.py
@@ -1,5 +1,8 @@
 """Tests for rfx.decorators module."""
 
+from __future__ import annotations
+
+import importlib.util
 from typing import Any
 
 import pytest
@@ -7,13 +10,14 @@
 from rfx.decorators import MotorCommands, policy
 from rfx.robot.config import JointConfig, RobotConfig
 
+TORCH_AVAILABLE = importlib.util.find_spec("torch") is not None
+
 # ---------------------------------------------------------------------------
 # @policy decorator
 # ---------------------------------------------------------------------------
 
 
 class TestPolicyDecorator:
-
     def test_policy_bare(self) -> None:
         """@rfx.policy without parentheses."""
 
@@ -83,7 +87,6 @@ def _make_config(joints: list[tuple[str, int]], action_dim: int = 6) -> RobotCon
 
 
 class TestMotorCommands:
-
     def test_empty(self) -> None:
         cmd = MotorCommands()
         assert cmd.positions == {}
@@ -111,8 +114,8 @@ def test_from_positions(self) -> None:
         assert cmd.config is config
 
 
+@pytest.mark.skipif(not TORCH_AVAILABLE, reason="torch is required")
 class TestMotorCommandsToTensor:
-
     def test_to_tensor_basic(self) -> None:
         config = _make_config(SO101_JOINTS)
         cmd = MotorCommands({"gripper": 0.8, "elbow": -0.3}, config=config)
@@ -146,7 +149,6 @@ def test_to_tensor_no_config_raises(self) -> None:
 
 
 class TestMotorCommandsToList:
-
     def test_to_list_basic(self) -> None:
         config = _make_config(SO101_JOINTS)
         cmd = MotorCommands({"gripper": 0.8, "elbow": -0.3}, config=config)
diff --git a/rfx/tests/test_so101_auto_pair.py b/rfx/tests/test_so101_auto_pair.py
index db95505..bd22157 100644
--- a/rfx/tests/test_so101_auto_pair.py
+++ b/rfx/tests/test_so101_auto_pair.py
@@ -1,8 +1,15 @@
 from __future__ import annotations
 
+import importlib.util
 from pathlib import Path
 
-import rfx.real.so101 as so101_mod
+import pytest
+
+TORCH_AVAILABLE = importlib.util.find_spec("torch") is not None
+pytestmark = pytest.mark.skipif(not TORCH_AVAILABLE, reason="torch is required")
+
+if TORCH_AVAILABLE:
+    import rfx.real.so101 as so101_mod
 
 
 def test_auto_pair_persists_identity_across_port_renumber(monkeypatch, tmp_path: Path) -> None:
diff --git a/rfx/tests/test_zenoh_defaults.py b/rfx/tests/test_zenoh_defaults.py
index c239433..7a6eef5 100644
--- a/rfx/tests/test_zenoh_defaults.py
+++ b/rfx/tests/test_zenoh_defaults.py
@@ -2,6 +2,8 @@
 
 from __future__ import annotations
 
+import importlib.util
+
 import pytest
 
 
@@ -162,6 +164,7 @@ def zenoh(connect, listen, shared_memory, key_prefix):
     assert captured["shared_memory"] is False
 
 
+@pytest.mark.skipif(not importlib.util.find_spec("torch"), reason="torch is required")
 def test_go2_dds_backend_deprecation_warning() -> None:
     """Using dds_backend= should emit FutureWarning."""
     import warnings