diff --git a/poetry.lock b/poetry.lock
index f03eb19..8bb071b 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,99 +1,114 @@
-# This file is automatically @generated by Poetry 1.8.3 and should not be changed by hand.
+# This file is automatically @generated by Poetry 1.8.4 and should not be changed by hand.
 
 [[package]]
 name = "aiohappyeyeballs"
-version = "2.3.2"
-description = "Happy Eyeballs"
+version = "2.4.3"
+description = "Happy Eyeballs for asyncio"
 optional = false
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+python-versions = ">=3.8"
 files = [
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 ]
 
 [[package]]
 name = "aiohttp"
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 description = "Async http client/server framework (asyncio)"
 optional = false
 python-versions = ">=3.8"
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 ]
 
 [package.dependencies]
@@ -102,7 +117,7 @@ aiosignal = ">=1.1.2"
 attrs = ">=17.3.0"
 frozenlist = ">=1.1.1"
 multidict = ">=4.5,<7.0"
-yarl = ">=1.0,<2.0"
+yarl = ">=1.12.0,<2.0"
 
 [package.extras]
 speedups = ["Brotli", "aiodns (>=3.2.0)", "brotlicffi"]
@@ -175,32 +190,32 @@ wrapt = [
 
 [[package]]
 name = "attrs"
-version = "23.2.0"
+version = "24.2.0"
 description = "Classes Without Boilerplate"
 optional = false
 python-versions = ">=3.7"
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 ]
 
 [package.extras]
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-dev = ["attrs[tests]", "pre-commit"]
-docs = ["furo", "myst-parser", "sphinx", "sphinx-notfound-page", "sphinxcontrib-towncrier", "towncrier", "zope-interface"]
-tests = ["attrs[tests-no-zope]", "zope-interface"]
-tests-mypy = ["mypy (>=1.6)", "pytest-mypy-plugins"]
-tests-no-zope = ["attrs[tests-mypy]", "cloudpickle", "hypothesis", "pympler", "pytest (>=4.3.0)", "pytest-xdist[psutil]"]
+benchmark = ["cloudpickle", "hypothesis", "mypy (>=1.11.1)", "pympler", "pytest (>=4.3.0)", "pytest-codspeed", "pytest-mypy-plugins", "pytest-xdist[psutil]"]
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+docs = ["cogapp", "furo", "myst-parser", "sphinx", "sphinx-notfound-page", "sphinxcontrib-towncrier", "towncrier (<24.7)"]
+tests = ["cloudpickle", "hypothesis", "mypy (>=1.11.1)", "pympler", "pytest (>=4.3.0)", "pytest-mypy-plugins", "pytest-xdist[psutil]"]
+tests-mypy = ["mypy (>=1.11.1)", "pytest-mypy-plugins"]
 
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 name = "babel"
-version = "2.15.0"
+version = "2.16.0"
 description = "Internationalization utilities"
 optional = false
 python-versions = ">=3.8"
 files = [
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 [package.dependencies]
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 [package.extras]
 colorama = ["colorama (>=0.4.3)"]
-d = ["aiohttp (>=3.7.4)", "aiohttp (>=3.7.4,!=3.9.0)"]
+d = ["aiohttp (>=3.10)"]
 jupyter = ["ipython (>=7.8.0)", "tokenize-rt (>=3.2.0)"]
 uvloop = ["uvloop (>=0.15.2)"]
 
 [[package]]
 name = "blacken-docs"
-version = "1.18.0"
+version = "1.19.1"
 description = "Run Black on Python code blocks in documentation files."
 optional = false
-python-versions = ">=3.8"
+python-versions = ">=3.9"
 files = [
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 [package.dependencies]
@@ -524,101 +596,116 @@ pycparser = "*"
 
 [[package]]
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 description = "The Real First Universal Charset Detector. Open, modern and actively maintained alternative to Chardet."
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 ]
 
 [package.dependencies]
@@ -833,7 +952,7 @@ nox = ["nox"]
 pep8test = ["check-sdist", "click", "mypy", "ruff"]
 sdist = ["build"]
 ssh = ["bcrypt (>=3.1.5)"]
-test = ["certifi", "cryptography-vectors (==43.0.0)", "pretend", "pytest (>=6.2.0)", "pytest-benchmark", "pytest-cov", "pytest-xdist"]
+test = ["certifi", "cryptography-vectors (==43.0.3)", "pretend", "pytest (>=6.2.0)", "pytest-benchmark", "pytest-cov", "pytest-xdist"]
 test-randomorder = ["pytest-randomly"]
 
 [[package]]
@@ -889,15 +1008,35 @@ requests = "*"
 gibberish = ["gibberish-detector"]
 word-list = ["pyahocorasick"]
 
+[[package]]
+name = "diffrax"
+version = "0.6.0"
+description = "GPU+autodiff-capable ODE/SDE/CDE solvers written in JAX."
+optional = false
+python-versions = "~=3.9"
+files = [
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+]
+
+[package.dependencies]
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+jax = ">=0.4.28"
+jaxtyping = ">=0.2.24"
+lineax = ">=0.0.5"
+optimistix = ">=0.0.7"
+typeguard = "2.13.3"
+typing-extensions = ">=4.5.0"
+
 [[package]]
 name = "dill"
-version = "0.3.8"
+version = "0.3.9"
 description = "serialize all of Python"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.extras]
@@ -937,6 +1076,22 @@ files = [
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 ]
 
+[[package]]
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+version = "0.11.8"
+description = "Elegant easy-to-use neural networks in JAX."
+optional = false
+python-versions = ">=3.9"
+files = [
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+
+[package.dependencies]
+jax = ">=0.4.13,<0.4.27 || >0.4.27"
+jaxtyping = ">=0.2.20"
+typing-extensions = ">=4.5.0"
+
 [[package]]
 name = "exceptiongroup"
 version = "1.2.2"
@@ -983,53 +1138,59 @@ pyflakes = ">=2.3.0,<2.4.0"
 
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 name = "fonttools"
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 python-versions = ">=3.8"
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+    {file = "frozenlist-1.5.0.tar.gz", hash = "sha256:81d5af29e61b9c8348e876d442253723928dce6433e0e76cd925cd83f1b4b817"},
 ]
 
 [[package]]
@@ -1209,15 +1385,18 @@ lxml = ["lxml"]
 
 [[package]]
 name = "idna"
-version = "3.7"
+version = "3.10"
 description = "Internationalized Domain Names in Applications (IDNA)"
 optional = false
-python-versions = ">=3.5"
+python-versions = ">=3.6"
 files = [
-    {file = "idna-3.7-py3-none-any.whl", hash = "sha256:82fee1fc78add43492d3a1898bfa6d8a904cc97d8427f683ed8e798d07761aa0"},
-    {file = "idna-3.7.tar.gz", hash = "sha256:028ff3aadf0609c1fd278d8ea3089299412a7a8b9bd005dd08b9f8285bcb5cfc"},
+    {file = "idna-3.10-py3-none-any.whl", hash = "sha256:946d195a0d259cbba61165e88e65941f16e9b36ea6ddb97f00452bae8b1287d3"},
+    {file = "idna-3.10.tar.gz", hash = "sha256:12f65c9b470abda6dc35cf8e63cc574b1c52b11df2c86030af0ac09b01b13ea9"},
 ]
 
+[package.extras]
+all = ["flake8 (>=7.1.1)", "mypy (>=1.11.2)", "pytest (>=8.3.2)", "ruff (>=0.6.2)"]
+
 [[package]]
 name = "imagesize"
 version = "1.4.1"
@@ -1231,40 +1410,48 @@ files = [
 
 [[package]]
 name = "importlib-metadata"
-version = "8.2.0"
+version = "8.5.0"
 description = "Read metadata from Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "importlib_metadata-8.2.0-py3-none-any.whl", hash = "sha256:11901fa0c2f97919b288679932bb64febaeacf289d18ac84dd68cb2e74213369"},
-    {file = "importlib_metadata-8.2.0.tar.gz", hash = "sha256:72e8d4399996132204f9a16dcc751af254a48f8d1b20b9ff0f98d4a8f901e73d"},
+    {file = "importlib_metadata-8.5.0-py3-none-any.whl", hash = "sha256:45e54197d28b7a7f1559e60b95e7c567032b602131fbd588f1497f47880aa68b"},
+    {file = "importlib_metadata-8.5.0.tar.gz", hash = "sha256:71522656f0abace1d072b9e5481a48f07c138e00f079c38c8f883823f9c26bd7"},
 ]
 
 [package.dependencies]
-zipp = ">=0.5"
+zipp = ">=3.20"
 
 [package.extras]
+check = ["pytest-checkdocs (>=2.4)", "pytest-ruff (>=0.2.1)"]
+cover = ["pytest-cov"]
 doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
+enabler = ["pytest-enabler (>=2.2)"]
 perf = ["ipython"]
-test = ["flufl.flake8", "importlib-resources (>=1.3)", "jaraco.test (>=5.4)", "packaging", "pyfakefs", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy", "pytest-perf (>=0.9.2)", "pytest-ruff (>=0.2.1)"]
+test = ["flufl.flake8", "importlib-resources (>=1.3)", "jaraco.test (>=5.4)", "packaging", "pyfakefs", "pytest (>=6,!=8.1.*)", "pytest-perf (>=0.9.2)"]
+type = ["pytest-mypy"]
 
 [[package]]
 name = "importlib-resources"
-version = "6.4.0"
+version = "6.4.5"
 description = "Read resources from Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "importlib_resources-6.4.0-py3-none-any.whl", hash = "sha256:50d10f043df931902d4194ea07ec57960f66a80449ff867bfe782b4c486ba78c"},
-    {file = "importlib_resources-6.4.0.tar.gz", hash = "sha256:cdb2b453b8046ca4e3798eb1d84f3cce1446a0e8e7b5ef4efb600f19fc398145"},
+    {file = "importlib_resources-6.4.5-py3-none-any.whl", hash = "sha256:ac29d5f956f01d5e4bb63102a5a19957f1b9175e45649977264a1416783bb717"},
+    {file = "importlib_resources-6.4.5.tar.gz", hash = "sha256:980862a1d16c9e147a59603677fa2aa5fd82b87f223b6cb870695bcfce830065"},
 ]
 
 [package.dependencies]
 zipp = {version = ">=3.1.0", markers = "python_version < \"3.10\""}
 
 [package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["jaraco.test (>=5.4)", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy", "pytest-ruff (>=0.2.1)", "zipp (>=3.17)"]
+check = ["pytest-checkdocs (>=2.4)", "pytest-ruff (>=0.2.1)"]
+cover = ["pytest-cov"]
+doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
+enabler = ["pytest-enabler (>=2.2)"]
+test = ["jaraco.test (>=5.4)", "pytest (>=6,!=8.1.*)", "zipp (>=3.17)"]
+type = ["pytest-mypy"]
 
 [[package]]
 name = "iniconfig"
@@ -1314,54 +1501,58 @@ testing = ["pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-ena
 
 [[package]]
 name = "jaraco-context"
-version = "5.3.0"
+version = "6.0.1"
 description = "Useful decorators and context managers"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "jaraco.context-5.3.0-py3-none-any.whl", hash = "sha256:3e16388f7da43d384a1a7cd3452e72e14732ac9fe459678773a3608a812bf266"},
-    {file = "jaraco.context-5.3.0.tar.gz", hash = "sha256:c2f67165ce1f9be20f32f650f25d8edfc1646a8aeee48ae06fb35f90763576d2"},
+    {file = "jaraco.context-6.0.1-py3-none-any.whl", hash = "sha256:f797fc481b490edb305122c9181830a3a5b76d84ef6d1aef2fb9b47ab956f9e4"},
+    {file = "jaraco_context-6.0.1.tar.gz", hash = "sha256:9bae4ea555cf0b14938dc0aee7c9f32ed303aa20a3b73e7dc80111628792d1b3"},
 ]
 
 [package.dependencies]
 "backports.tarfile" = {version = "*", markers = "python_version < \"3.12\""}
 
 [package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["portend", "pytest (>=6,!=8.1.1)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
+doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
+test = ["portend", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
 
 [[package]]
 name = "jaraco-functools"
-version = "4.0.1"
+version = "4.1.0"
 description = "Functools like those found in stdlib"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "jaraco.functools-4.0.1-py3-none-any.whl", hash = "sha256:3b24ccb921d6b593bdceb56ce14799204f473976e2a9d4b15b04d0f2c2326664"},
-    {file = "jaraco_functools-4.0.1.tar.gz", hash = "sha256:d33fa765374c0611b52f8b3a795f8900869aa88c84769d4d1746cd68fb28c3e8"},
+    {file = "jaraco.functools-4.1.0-py3-none-any.whl", hash = "sha256:ad159f13428bc4acbf5541ad6dec511f91573b90fba04df61dafa2a1231cf649"},
+    {file = "jaraco_functools-4.1.0.tar.gz", hash = "sha256:70f7e0e2ae076498e212562325e805204fc092d7b4c17e0e86c959e249701a9d"},
 ]
 
 [package.dependencies]
 more-itertools = "*"
 
 [package.extras]
-docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-lint"]
-testing = ["jaraco.classes", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
+check = ["pytest-checkdocs (>=2.4)", "pytest-ruff (>=0.2.1)"]
+cover = ["pytest-cov"]
+doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
+enabler = ["pytest-enabler (>=2.2)"]
+test = ["jaraco.classes", "pytest (>=6,!=8.1.*)"]
+type = ["pytest-mypy"]
 
 [[package]]
 name = "jax"
-version = "0.4.26"
+version = "0.4.30"
 description = "Differentiate, compile, and transform Numpy code."
 optional = false
 python-versions = ">=3.9"
 files = [
-    {file = "jax-0.4.26-py3-none-any.whl", hash = "sha256:50dc795148ee6b0735b48b477e5abc556aa3a4c7af5d6940dad08024a908b02f"},
-    {file = "jax-0.4.26.tar.gz", hash = "sha256:2cce025d0a279ec630d550524749bc8efe25d2ff47240d2a7d4cfbc5090c5383"},
+    {file = "jax-0.4.30-py3-none-any.whl", hash = "sha256:289b30ae03b52f7f4baf6ef082a9f4e3e29c1080e22d13512c5ecf02d5f1a55b"},
+    {file = "jax-0.4.30.tar.gz", hash = "sha256:94d74b5b2db0d80672b61d83f1f63ebf99d2ab7398ec12b2ca0c9d1e97afe577"},
 ]
 
 [package.dependencies]
 importlib-metadata = {version = ">=4.6", markers = "python_version < \"3.10\""}
-jaxlib = {version = "0.4.26", optional = true, markers = "extra == \"cpu\""}
+jaxlib = ">=0.4.27,<=0.4.30"
 ml-dtypes = ">=0.2.0"
 numpy = [
     {version = ">=1.26.0", markers = "python_version >= \"3.12\""},
@@ -1375,44 +1566,41 @@ scipy = [
 ]
 
 [package.extras]
-australis = ["protobuf (>=3.13,<4)"]
-ci = ["jaxlib (==0.4.25)"]
-cpu = ["jaxlib (==0.4.26)"]
-cuda = ["jaxlib (==0.4.26+cuda12.cudnn89)"]
-cuda12 = ["jax-cuda12-plugin (==0.4.26)", "jaxlib (==0.4.26)", "nvidia-cublas-cu12 (>=12.1.3.1)", "nvidia-cuda-cupti-cu12 (>=12.1.105)", "nvidia-cuda-nvcc-cu12 (>=12.1.105)", "nvidia-cuda-runtime-cu12 (>=12.1.105)", "nvidia-cudnn-cu12 (>=8.9.2.26,<9.0)", "nvidia-cufft-cu12 (>=11.0.2.54)", "nvidia-cusolver-cu12 (>=11.4.5.107)", "nvidia-cusparse-cu12 (>=12.1.0.106)", "nvidia-nccl-cu12 (>=2.18.1)", "nvidia-nvjitlink-cu12 (>=12.1.105)"]
-cuda12-cudnn89 = ["jaxlib (==0.4.26+cuda12.cudnn89)"]
-cuda12-local = ["jaxlib (==0.4.26+cuda12.cudnn89)"]
-cuda12-pip = ["jaxlib (==0.4.26+cuda12.cudnn89)", "nvidia-cublas-cu12 (>=12.1.3.1)", "nvidia-cuda-cupti-cu12 (>=12.1.105)", "nvidia-cuda-nvcc-cu12 (>=12.1.105)", "nvidia-cuda-runtime-cu12 (>=12.1.105)", "nvidia-cudnn-cu12 (>=8.9.2.26,<9.0)", "nvidia-cufft-cu12 (>=11.0.2.54)", "nvidia-cusolver-cu12 (>=11.4.5.107)", "nvidia-cusparse-cu12 (>=12.1.0.106)", "nvidia-nccl-cu12 (>=2.18.1)", "nvidia-nvjitlink-cu12 (>=12.1.105)"]
-minimum-jaxlib = ["jaxlib (==0.4.20)"]
-tpu = ["jaxlib (==0.4.26)", "libtpu-nightly (==0.1.dev20240403)", "requests"]
+ci = ["jaxlib (==0.4.29)"]
+cuda = ["jax-cuda12-plugin[with-cuda] (==0.4.30)", "jaxlib (==0.4.30)"]
+cuda12 = ["jax-cuda12-plugin[with-cuda] (==0.4.30)", "jaxlib (==0.4.30)"]
+cuda12-local = ["jax-cuda12-plugin (==0.4.30)", "jaxlib (==0.4.30)"]
+cuda12-pip = ["jax-cuda12-plugin[with-cuda] (==0.4.30)", "jaxlib (==0.4.30)"]
+minimum-jaxlib = ["jaxlib (==0.4.27)"]
+tpu = ["jaxlib (==0.4.30)", "libtpu-nightly (==0.1.dev20240617)", "requests"]
 
 [[package]]
 name = "jaxlib"
-version = "0.4.26"
+version = "0.4.30"
 description = "XLA library for JAX"
 optional = false
 python-versions = ">=3.9"
 files = [
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-    {file = "jaxlib-0.4.26-cp310-cp310-manylinux2014_x86_64.whl", hash = "sha256:22e943ed10faa7d85fd804ddc20581bf6fbcc60e114435c3b3327b9f1ebff895"},
-    {file = "jaxlib-0.4.26-cp310-cp310-win_amd64.whl", hash = "sha256:eb0cc16efc6313eb100688a38078061caa3c907ebfa1d315485a08fd27f374dc"},
-    {file = "jaxlib-0.4.26-cp311-cp311-macosx_10_14_x86_64.whl", hash = "sha256:de4b9a54cd96e6a732c1cf65ae2defdf6a01558a15db8bf6dbd8f40d363b085d"},
-    {file = "jaxlib-0.4.26-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:8cbdcb95ac73f80ea3a82a53b8f0621f37dfb01ab0203de6fc6691a4e2396984"},
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@@ -1423,8 +1611,19 @@ scipy = [
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 ]
 
-[package.extras]
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 name = "jeepney"
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 [[package]]
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 [[package]]
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 [[package]]
 name = "keyring"
-version = "25.2.1"
+version = "25.4.1"
 description = "Store and access your passwords safely."
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 python-versions = ">=3.8"
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 SecretStorage = {version = ">=3.2", markers = "sys_platform == \"linux\""}
 
 [package.extras]
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+optional = false
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+files = [
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+typing-extensions = ">=4.5.0"
+
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 ]
 
 [package.dependencies]
@@ -1945,13 +2187,13 @@ files = [
 
 [[package]]
 name = "mkdocs"
-version = "1.6.0"
+version = "1.6.1"
 description = "Project documentation with Markdown."
 optional = false
 python-versions = ">=3.8"
 files = [
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@@ -2036,13 +2278,13 @@ pyyaml = ">=5.1"
 
 [[package]]
 name = "mkdocs-git-revision-date-localized-plugin"
-version = "1.2.6"
+version = "1.3.0"
 description = "Mkdocs plugin that enables displaying the localized date of the last git modification of a markdown file."
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 python-versions = ">=3.8"
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 ]
 
 [package.dependencies]
@@ -2051,6 +2293,11 @@ GitPython = "*"
 mkdocs = ">=1.0"
 pytz = "*"
 
+[package.extras]
+all = ["GitPython", "babel (>=2.7.0)", "click", "codecov", "mkdocs (>=1.0)", "mkdocs-gen-files", "mkdocs-git-authors-plugin", "mkdocs-material", "mkdocs-static-i18n", "pytest", "pytest-cov", "pytz"]
+base = ["GitPython", "babel (>=2.7.0)", "mkdocs (>=1.0)", "pytz"]
+dev = ["click", "codecov", "mkdocs-gen-files", "mkdocs-git-authors-plugin", "mkdocs-material", "mkdocs-static-i18n", "pytest", "pytest-cov"]
+
 [[package]]
 name = "mkdocs-material"
 version = "8.5.11"
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 python-versions = ">=3.9"
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 [package.dependencies]
@@ -2214,7 +2465,7 @@ numpy = [
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     {version = ">=1.21.2", markers = "python_version >= \"3.10\" and python_version < \"3.11\""},
-    {version = ">1.20", markers = "python_version < \"3.10\""},
+    {version = ">=1.21", markers = "python_version < \"3.10\""},
 ]
 
 [package.extras]
@@ -2222,112 +2473,114 @@ dev = ["absl-py", "pyink", "pylint (>=2.6.0)", "pytest", "pytest-xdist"]
 
 [[package]]
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-version = "10.3.0"
+version = "10.5.0"
 description = "More routines for operating on iterables, beyond itertools"
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 python-versions = ">=3.8"
 files = [
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 [[package]]
 name = "multidict"
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 description = "multidict implementation"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
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 [[package]]
@@ -2494,13 +2747,13 @@ files = [
 
 [[package]]
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+version = "1.8.0"
 description = "Sphinx extension to support docstrings in Numpy format"
 optional = false
-python-versions = ">=3.8"
+python-versions = ">=3.9"
 files = [
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 ]
 
 [package.dependencies]
@@ -2510,26 +2763,37 @@ tomli = {version = ">=1.1.0", markers = "python_version < \"3.11\""}
 
 [package.extras]
 developer = ["pre-commit (>=3.3)", "tomli"]
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 test = ["matplotlib", "pytest", "pytest-cov"]
 
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-description = "Optimizing numpys einsum function"
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-python-versions = ">=3.5"
+python-versions = ">=3.8"
 files = [
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 ]
 
-[package.dependencies]
-numpy = ">=1.7"
+[[package]]
+name = "optimistix"
+version = "0.0.9"
+description = "Nonlinear optimisation in JAX and Equinox."
+optional = false
+python-versions = "~=3.9"
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-tests = ["pytest", "pytest-cov", "pytest-pep8"]
+[package.dependencies]
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+jax = ">=0.4.28"
+jaxtyping = ">=0.2.23"
+lineax = ">=0.0.6"
+typing-extensions = ">=4.5.0"
 
 [[package]]
 name = "packaging"
@@ -2590,13 +2854,13 @@ files = [
 
 [[package]]
 name = "pbr"
-version = "6.0.0"
+version = "6.1.0"
 description = "Python Build Reasonableness"
 optional = false
 python-versions = ">=2.6"
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 [[package]]
@@ -2720,19 +2984,19 @@ testing = ["pytest", "pytest-cov", "wheel"]
 
 [[package]]
 name = "platformdirs"
-version = "4.2.2"
+version = "4.3.6"
 description = "A small Python package for determining appropriate platform-specific dirs, e.g. a `user data dir`."
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 python-versions = ">=3.8"
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-type = ["mypy (>=1.8)"]
+docs = ["furo (>=2024.8.6)", "proselint (>=0.14)", "sphinx (>=8.0.2)", "sphinx-autodoc-typehints (>=2.4)"]
+test = ["appdirs (==1.4.4)", "covdefaults (>=2.3)", "pytest (>=8.3.2)", "pytest-cov (>=5)", "pytest-mock (>=3.14)"]
+type = ["mypy (>=1.11.2)"]
 
 [[package]]
 name = "pluggy"
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 dev = ["pre-commit", "tox"]
 testing = ["pytest", "pytest-benchmark"]
 
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 [[package]]
@@ -3333,99 +3712,120 @@ pyyaml = "*"
 
 [[package]]
 name = "pyzmq"
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 description = "Python bindings for 0MQ"
 optional = false
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 [package.dependencies]
@@ -3433,32 +3833,32 @@ cffi = {version = "*", markers = "implementation_name == \"pypy\""}
 
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@@ -3549,183 +3949,188 @@ idna2008 = ["idna"]
 
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 [package.extras]
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 [package.dependencies]
@@ -3737,11 +4142,11 @@ threadpoolctl = ">=3.1.0"
 [package.extras]
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 [[package]]
 name = "scipy"
@@ -3800,6 +4205,26 @@ files = [
 cryptography = ">=2.0"
 jeepney = ">=0.6"
 
+[[package]]
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+description = "Easily download, build, install, upgrade, and uninstall Python packages"
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+python-versions = ">=3.8"
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+
 [[package]]
 name = "six"
 version = "1.16.0"
@@ -3835,13 +4260,13 @@ files = [
 
 [[package]]
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+version = "2.6"
 description = "A modern CSS selector implementation for Beautiful Soup."
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 python-versions = ">=3.8"
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 [[package]]
@@ -4027,13 +4452,13 @@ files = [
 
 [[package]]
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 description = "A tiny CSS parser"
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 python-versions = ">=3.8"
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 [package.dependencies]
@@ -4045,24 +4470,24 @@ test = ["pytest", "ruff"]
 
 [[package]]
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+version = "2.0.2"
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 [[package]]
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 python-versions = ">=3.8"
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 [[package]]
@@ -4087,13 +4512,13 @@ files = [
 
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 description = "Fast, Extensible Progress Meter"
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 [package.dependencies]
@@ -4142,6 +4567,21 @@ rfc3986 = ">=1.4.0"
 rich = ">=12.0.0"
 urllib3 = ">=1.26.0"
 
+[[package]]
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+description = "Run-time type checker for Python"
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+test = ["mypy", "pytest", "typing-extensions"]
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 [[package]]
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 version = "4.12.2"
@@ -4155,13 +4595,13 @@ files = [
 
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 [package.extras]
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 ]
 
 [package.extras]
@@ -4556,4 +5001,4 @@ test = ["pytest"]
 [metadata]
 lock-version = "2.0"
 python-versions = ">=3.9, <3.13"
-content-hash = "a7e986f8a49f6d748bfa79e748f575d8ec93ad0b87acc303bae935f7437559c0"
+content-hash = "604e8afbb03db63174aa4cb28363efbaa38e400186cb4460c49811d3bd9085d6"
diff --git a/pyproject.toml b/pyproject.toml
index d648967..3e8cf35 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -23,12 +23,12 @@ packages = [
 [tool.poetry.dependencies]
 python = ">=3.9, <3.13"
 scipy = ">=1.10.0"
-jax = { version = "0.4.26", extras = ["cpu"] }
+jax = { version = "^0.4.30", extras = ["cpu"] }
 numpy = "^1.23.5"
 matplotlib = "^3.8.0"
 quadprog = "^0.1.11"
 pydantic = "^2.8.0"
-safe-autonomy-simulation = "^2.0.12"
+safe-autonomy-simulation = "^2.1.2"
 pyqt6 = "^6.7.1"
 
 [tool.poetry.group.lint.dependencies]
diff --git a/run_time_assurance/zoo/cwh/docking_2d.py b/run_time_assurance/zoo/cwh/docking_2d.py
index 091a818..e98261d 100644
--- a/run_time_assurance/zoo/cwh/docking_2d.py
+++ b/run_time_assurance/zoo/cwh/docking_2d.py
@@ -102,6 +102,7 @@ def _setup_docking_properties(
             A=A,
             B=B,
             integration_method=integration_method,
+            use_jax=True,
         )
 
         assert integration_method in (
@@ -109,8 +110,8 @@ def _setup_docking_properties(
             "Euler",
         ), f"Invalid integration method {integration_method}, must be 'RK45' or 'Euler'"
 
-        jit_compile_dict.setdefault("pred_state", True)
-        jit_compile_dict.setdefault("integrate", True)
+        # jit_compile_dict.setdefault("pred_state", True)
+        # jit_compile_dict.setdefault("integrate", True)
 
     def _setup_docking_constraints(
         self,
@@ -144,6 +145,8 @@ def _docking_pred_state(
         self, state: jnp.ndarray, step_size: float, control: jnp.ndarray
     ) -> jnp.ndarray:
         """Predicts the next state given the current state and control action"""
+        state = np.array(state)
+        control = np.array(control)
         out, _ = self.dynamics.step(step_size, state, control)
         return out
 
diff --git a/run_time_assurance/zoo/cwh/docking_3d.py b/run_time_assurance/zoo/cwh/docking_3d.py
index 6ceacc9..6bf365b 100644
--- a/run_time_assurance/zoo/cwh/docking_3d.py
+++ b/run_time_assurance/zoo/cwh/docking_3d.py
@@ -124,6 +124,7 @@ def _setup_docking_properties(
             A=A,
             B=B,
             integration_method=integration_method,
+            use_jax=True
         )
 
         assert integration_method in (
@@ -131,8 +132,8 @@ def _setup_docking_properties(
             "RK45",
         ), f"Invalid integration method {integration_method}, must be 'Euler' or 'RK45'"
 
-        jit_compile_dict.setdefault("pred_state", True)
-        jit_compile_dict.setdefault("integrate", True)
+        # jit_compile_dict.setdefault("pred_state", True)
+        # jit_compile_dict.setdefault("integrate", True)
 
     def _setup_docking_constraints(
         self,
diff --git a/run_time_assurance/zoo/cwh/random_sample_testing.py b/run_time_assurance/zoo/cwh/random_sample_testing.py
index a1137f3..cf3075e 100644
--- a/run_time_assurance/zoo/cwh/random_sample_testing.py
+++ b/run_time_assurance/zoo/cwh/random_sample_testing.py
@@ -33,7 +33,7 @@ def __init__(
             bounds = np.array([[-10000, -10000, -5, -5], [10000, 10000, 5, 5]])
 
         A, B = generate_cwh_matrices(defaults.M_DEFAULT, defaults.N_DEFAULT, mode="2d")
-        self.dynamics = dynamics.LinearODEDynamics(A=A, B=B, integration_method="RK45")
+        self.dynamics = dynamics.LinearODEDynamics(A=A, B=B, integration_method="RK45", use_jax=True)
 
         super().__init__(
             rta=rta,
diff --git a/run_time_assurance/zoo/integrators/integrator_1d.py b/run_time_assurance/zoo/integrators/integrator_1d.py
index e74784d..ba7a494 100644
--- a/run_time_assurance/zoo/integrators/integrator_1d.py
+++ b/run_time_assurance/zoo/integrators/integrator_1d.py
@@ -62,6 +62,7 @@ def _setup_docking_properties(
             m=m,
             mode="1d",
             integration_method=integration_method,
+            use_jax=True
         )
         self.A = jnp.array(self.dynamics.A)
         self.B = jnp.array(self.dynamics.B)
@@ -70,8 +71,8 @@ def _setup_docking_properties(
             integration_method in ("RK45", "Euler")
         ), f"Invalid integration method {integration_method}, must be either 'RK45' or 'Euler'"
 
-        jit_compile_dict.setdefault("pred_state", True)
-        jit_compile_dict.setdefault("integrate", True)
+        # jit_compile_dict.setdefault("pred_state", True)
+        # jit_compile_dict.setdefault("integrate", True)
 
     def _setup_docking_constraints_explicit(self) -> OrderedDict:
         """generates explicit constraints used in the docking problem"""
diff --git a/test/cwh_inspection/test_inspection_1v1.py b/test/cwh_inspection/test_inspection_1v1.py
index 0d9ffb1..2347e9e 100644
--- a/test/cwh_inspection/test_inspection_1v1.py
+++ b/test/cwh_inspection/test_inspection_1v1.py
@@ -30,7 +30,7 @@ def __init__(self, rta, constraint_keys=[], step_size=1, **kwargs):
             self.rta.constraints = new_constraints
 
         A, B = generate_cwh_matrices(M_DEFAULT, N_DEFAULT, mode="3d")
-        self.dynamics = LinearODEDynamics(A=A, B=B, integration_method='RK45')
+        self.dynamics = LinearODEDynamics(A=A, B=B, integration_method='RK45', use_jax=True)
 
         # Specify LQR gains
         Q = np.eye(6) * 0.05  # State cost
diff --git a/test/docking_rta/test_docking_rta_2d.py b/test/docking_rta/test_docking_rta_2d.py
index d2929e7..2746aa4 100644
--- a/test/docking_rta/test_docking_rta_2d.py
+++ b/test/docking_rta/test_docking_rta_2d.py
@@ -20,7 +20,7 @@ def __init__(self, rta, random_init=False):
         self.docking_region = 1  # m
 
         A, B = generate_cwh_matrices(M_DEFAULT, N_DEFAULT, mode="2d")
-        self.dynamics = LinearODEDynamics(A=A, B=B, integration_method='RK45')
+        self.dynamics = LinearODEDynamics(A=A, B=B, integration_method='RK45', use_jax=True)
 
         # Specify LQR gains
         Q = np.eye(4) * 0.05  # State cost
diff --git a/test/docking_rta/test_docking_rta_3d.py b/test/docking_rta/test_docking_rta_3d.py
index f5f8044..ae3783c 100644
--- a/test/docking_rta/test_docking_rta_3d.py
+++ b/test/docking_rta/test_docking_rta_3d.py
@@ -20,7 +20,7 @@ def __init__(self, rta, random_init=False):
         self.docking_region = 1  # m
 
         A, B = generate_cwh_matrices(M_DEFAULT, N_DEFAULT, mode="3d")
-        self.dynamics = LinearODEDynamics(A=A, B=B, integration_method='RK45')
+        self.dynamics = LinearODEDynamics(A=A, B=B, integration_method='RK45', use_jax=True)
 
         # Specify LQR gains
         Q = np.eye(6) * 0.05  # State cost
diff --git a/test/integrator_rta/test_integrator_rta_1d.py b/test/integrator_rta/test_integrator_rta_1d.py
index 3841918..493db44 100644
--- a/test/integrator_rta/test_integrator_rta_1d.py
+++ b/test/integrator_rta/test_integrator_rta_1d.py
@@ -22,7 +22,7 @@ def __init__(self, rta):
         self.docking_region = 0.1
         self.docking_max_vel = 0.1
         self.dynamics = PointMassIntegratorDynamics(
-            m=M_DEFAULT, mode="1d", integration_method="RK45"
+            m=M_DEFAULT, mode="1d", integration_method="RK45", use_jax=True
         )
 
         super().__init__(