diff --git a/requirements.txt b/requirements.txt
index 1489ece..053bf11 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,11 +1,10 @@
-git+https://github.com/rail-berkeley/d4rl@master#egg=d4rl
-dm_control
+absl-py
+dm_control==0.0.403778684
 gtimer
 gym
 matplotlib
-mujoco-py
+mujoco-py<2.2,>=2.1
 opencv-python
 python-dateutil
 tensorboardX
 torch==1.7.1
-