diff --git a/metadrive/policy/replay_policy.py b/metadrive/policy/replay_policy.py
index f565f7615..80f54d8a7 100644
--- a/metadrive/policy/replay_policy.py
+++ b/metadrive/policy/replay_policy.py
@@ -55,10 +55,10 @@ def act(self, *args, **kwargs):
 
         if "throttle_brake" in info:
             if hasattr(self.control_object, "set_throttle_brake"):
-                self.control_object.set_throttle_brake(float(info["throttle_brake"]))
+                self.control_object.set_throttle_brake(float(info["throttle_brake"].item()))
         if "steering" in info:
             if hasattr(self.control_object, "set_steering"):
-                self.control_object.set_steering(float(info["steering"]))
+                self.control_object.set_steering(float(info["steering"].item()))
         self.control_object.set_position(info["position"])
         self.control_object.set_velocity(info["velocity"], in_local_frame=self._velocity_local_frame)
         self.control_object.set_heading_theta(info["heading"])
diff --git a/metadrive/scenario/parse_object_state.py b/metadrive/scenario/parse_object_state.py
index 4726ff733..af1dffe3e 100644
--- a/metadrive/scenario/parse_object_state.py
+++ b/metadrive/scenario/parse_object_state.py
@@ -1,4 +1,5 @@
 import copy
+import warnings
 
 from metadrive.component.lane.point_lane import PointLane
 from metadrive.utils.math import compute_angular_velocity
@@ -50,7 +51,7 @@ def parse_object_state(object_dict, time_idx, check_last_state=False, sim_time_i
     # optional keys with scalar value:
     for k in ["length", "width", "height"]:
         if k in states:
-            ret[k] = float(states[k][time_idx])
+            ret[k] = float(states[k][time_idx].item())
 
     ret["valid"] = states["valid"][time_idx]
     if time_idx < len(states["position"]) - 1 and states["valid"][time_idx] and states["valid"][time_idx + 1]:
diff --git a/setup.py b/setup.py
index df19ee8cb..da5e82984 100644
--- a/setup.py
+++ b/setup.py
@@ -38,8 +38,8 @@ def is_win():
 
 install_requires = [
     "requests",
-    "gymnasium>=0.28, <0.29",
-    "numpy>=1.21.6, <=1.24.2",
+    "gymnasium>=0.28",
+    "numpy>=1.21.6",
     "matplotlib",
     "pandas",
     "pygame",
@@ -118,7 +118,7 @@ def is_win():
 5. Get wheel
     python setup.py sdist bdist_wheel
 
-6. Upload to production channel 
+6. Upload to production channel
     twine upload dist/*
 
 7. Draft a release on github with new version number and upload assets.zip and the generated .whl files to the release.
@@ -127,6 +127,6 @@ def is_win():
 
 9. Merge this branch into main
 
-!!!!!!!!!!!!! NOTE: please make sure that unzip assets.zip will generate a folder called assets instead of files  
+!!!!!!!!!!!!! NOTE: please make sure that unzip assets.zip will generate a folder called assets instead of files
 
 """