diff --git a/setup.py b/setup.py
index 31527b6..d8874c7 100644
--- a/setup.py
+++ b/setup.py
@@ -12,7 +12,7 @@
         'azure.storage.blob==12.9.0',
         'cloudpickle>=2.1.0',
         'dm_control>=1.0.7',
-        'gym==0.21',
+        'gym<0.24',
         'h5py',
         'imageio',
         'imageio-ffmpeg',