diff --git a/requirements.txt b/requirements.txt
index 7acb460..0dac8ea 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -2,7 +2,7 @@ numpy<1.23.0
 einops
 mujoco_py>=2.0
 gym>=0.13,<0.24
-dm_control>=1.0.3
+dm_control>=1.0.3,<=1.0.20
 cython==3.0.0a10
 numba<0.60.0
 matplotlib<=3.7.5
@@ -20,3 +20,4 @@ opencv-python
 imagecodecs
 torch>1.0.0,<2.3.0
 torchvision
+mujoco<=3.1.6