diff --git a/com.unity.ml-agents.extensions/package.json b/com.unity.ml-agents.extensions/package.json
index 839d625c3f..0f77b2748b 100644
--- a/com.unity.ml-agents.extensions/package.json
+++ b/com.unity.ml-agents.extensions/package.json
@@ -1,7 +1,7 @@
 {
   "name": "com.unity.ml-agents.extensions",
   "displayName": "ML Agents Extensions",
-  "version": "0.6.1-exp.1",
+  "version": "0.6.1-preview",
   "unity": "2022.3",
   "description": "A source-only package for new features based on ML-Agents",
   "dependencies": {
diff --git a/com.unity.ml-agents/CHANGELOG.md b/com.unity.ml-agents/CHANGELOG.md
index 754e5639d8..d88eb41882 100755
--- a/com.unity.ml-agents/CHANGELOG.md
+++ b/com.unity.ml-agents/CHANGELOG.md
@@ -6,6 +6,23 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/)
 and this project adheres to
 [Semantic Versioning](http://semver.org/spec/v2.0.0.html).
 
+## [Unreleased]
+### Major Changes
+#### com.unity.ml-agents / com.unity.ml-agents.extensions (C#)
+
+#### ml-agents / ml-agents-envs
+
+### Minor Changes
+#### com.unity.ml-agents / com.unity.ml-agents.extensions (C#)
+
+#### ml-agents / ml-agents-envs
+
+### Bug Fixes
+#### com.unity.ml-agents / com.unity.ml-agents.extensions (C#)
+
+#### ml-agents / ml-agents-envs
+- Bumped numpy version to >=1.21.2,<1.24.0 (#)
+
 ## [3.0.0-exp.1] - 2023-10-09
 ### Major Changes
 #### com.unity.ml-agents / com.unity.ml-agents.extensions (C#)
diff --git a/ml-agents-envs/setup.py b/ml-agents-envs/setup.py
index 3fa6915437..d224fb4a7b 100644
--- a/ml-agents-envs/setup.py
+++ b/ml-agents-envs/setup.py
@@ -60,7 +60,7 @@ def run(self):
         "pyyaml>=3.1.0",
         "gym>=0.21.0",
         "pettingzoo==1.15.0",
-        "numpy==1.21.2",
+        "numpy>=1.21.2,<1.24.0",
         "filelock>=3.4.0",
     ],
     python_requires=">=3.10.1,<=3.10.12",
diff --git a/ml-agents/setup.py b/ml-agents/setup.py
index f77374d07d..ee69dff40e 100644
--- a/ml-agents/setup.py
+++ b/ml-agents/setup.py
@@ -58,7 +58,7 @@ def run(self):
         "grpcio>=1.11.0,<=1.48.2",
         "h5py>=2.9.0",
         f"mlagents_envs=={VERSION}",
-        "numpy>=1.13.3,<2.0",
+        "numpy>=1.21.2,<1.24.0",
         "Pillow>=4.2.1",
         "protobuf>=3.6,<3.20",
         "pyyaml>=3.1.0",