robosuite<1.5.0,>=1.4.0
bddl
mujoco>=3.0.0
gym<0.27,>=0.25
numpy<2,>=1.22
imageio
h5py
opencv-python
matplotlib>=3.5.3
termcolor
tqdm
easydict
cloudpickle>=2.0.0
PyYAML
filelock
huggingface-hub

[train]
hydra-core<1.4,>=1.2
robomimic==0.2.0
transformers
torchvision
wandb
thop
einops
omegaconf
