diff --git a/.circleci/test.yml b/.circleci/test.yml
index 7318289137..0c9a6d8087 100644
--- a/.circleci/test.yml
+++ b/.circleci/test.yml
@@ -67,7 +67,7 @@ jobs:
           command: |
             python -m pip install git+ssh://git@github.com/open-mmlab/mmengine.git@main
             pip install -U openmim
-            mim install 'mmcv >= 2.0.0rc1'
+            mim install 'mmcv >= 2.0.0rc4'
             pip install git+ssh://git@github.com/open-mmlab/mmdetection.git@dev-3.x
             pip install -r requirements.txt
       - run:
@@ -114,7 +114,7 @@ jobs:
           command: |
             docker exec mmdet3d pip install -e /mmengine
             docker exec mmdet3d pip install -U openmim
-            docker exec mmdet3d mim install 'mmcv >= 2.0.0rc1'
+            docker exec mmdet3d mim install 'mmcv >= 2.0.0rc4'
             docker exec mmdet3d pip install -e /mmdetection
             docker exec mmdet3d pip install -r requirements.txt
       - run:
diff --git a/.github/workflows/merge_stage_test.yml b/.github/workflows/merge_stage_test.yml
index 4f56944db3..39b12564e1 100644
--- a/.github/workflows/merge_stage_test.yml
+++ b/.github/workflows/merge_stage_test.yml
@@ -41,7 +41,7 @@ jobs:
       - name: Install MMCV
         run: |
           pip install -U openmim
-          mim install 'mmcv >= 2.0.0rc1'
+          mim install 'mmcv >= 2.0.0rc4'
       - name: Install MMDet
         run: pip install git+https://github.com/open-mmlab/mmdetection.git@dev-3.x
       - name: Install other dependencies
@@ -95,7 +95,7 @@ jobs:
       - name: Install MMCV
         run: |
           pip install -U openmim
-          mim install 'mmcv >= 2.0.0rc1'
+          mim install 'mmcv >= 2.0.0rc4'
       - name: Install MMDet
         run: pip install git+https://github.com/open-mmlab/mmdetection.git@dev-3.x
       - name: Install other dependencies
@@ -146,7 +146,7 @@ jobs:
         run: |
           pip install git+https://github.com/open-mmlab/mmengine.git@main
           pip install -U openmim
-          mim install 'mmcv >= 2.0.0rc1'
+          mim install 'mmcv >= 2.0.0rc4'
           pip install git+https://github.com/open-mmlab/mmdetection.git@dev-3.x
           pip install -r requirements/tests.txt
       - name: Build and install
@@ -182,7 +182,7 @@ jobs:
         run: |
           pip install git+https://github.com/open-mmlab/mmengine.git@main
           pip install -U openmim
-          mim install 'mmcv >= 2.0.0rc1'
+          mim install 'mmcv >= 2.0.0rc4'
           pip install git+https://github.com/open-mmlab/mmdetection.git@dev-3.x
           pip install -r requirements/tests.txt
       - name: Build and install
@@ -217,7 +217,7 @@ jobs:
         run: |
           pip install git+https://github.com/open-mmlab/mmengine.git@main
           pip install -U openmim
-          mim install 'mmcv >= 2.0.0rc1'
+          mim install 'mmcv >= 2.0.0rc4'
           pip install git+https://github.com/open-mmlab/mmdetection.git@dev-3.x
           pip install -r requirements/tests.txt
       - name: Build and install
diff --git a/.github/workflows/pr_stage_test.yml b/.github/workflows/pr_stage_test.yml
index 8ca3a5c5d1..7ae185182b 100644
--- a/.github/workflows/pr_stage_test.yml
+++ b/.github/workflows/pr_stage_test.yml
@@ -38,7 +38,7 @@ jobs:
       - name: Install MMCV
         run: |
           pip install -U openmim
-          mim install 'mmcv >= 2.0.0rc1'
+          mim install 'mmcv >= 2.0.0rc4'
       - name: Install MMDet
         run: pip install git+https://github.com/open-mmlab/mmdetection.git@dev-3.x
       - name: Install other dependencies
@@ -85,7 +85,7 @@ jobs:
         run: |
           pip install git+https://github.com/open-mmlab/mmengine.git@main
           pip install -U openmim
-          mim install 'mmcv >= 2.0.0rc1'
+          mim install 'mmcv >= 2.0.0rc4'
           pip install git+https://github.com/open-mmlab/mmdetection.git@dev-3.x
           pip install -r requirements/tests.txt
       - name: Build and install
@@ -120,7 +120,7 @@ jobs:
         run: |
           pip install git+https://github.com/open-mmlab/mmengine.git@main
           pip install -U openmim
-          mim install 'mmcv >= 2.0.0rc1'
+          mim install 'mmcv >= 2.0.0rc4'
           pip install git+https://github.com/open-mmlab/mmdetection.git@dev-3.x
           pip install -r requirements/tests.txt
       - name: Build and install
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 2f2d22644e..dd6ef6d292 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -29,7 +29,7 @@ RUN apt-get update \
 
 # Install MMEngine, MMCV and MMDetection
 RUN pip install openmim && \
-    mim install "mmengine" "mmcv>=2.0.0rc1" "mmdet>=3.0.0rc0"
+    mim install "mmengine" "mmcv>=2.0.0rc4" "mmdet>=3.0.0"
 
 # Install MMDetection3D
 RUN conda clean --all \
diff --git a/docker/serve/Dockerfile b/docker/serve/Dockerfile
index 78becc62bb..c39885e077 100644
--- a/docker/serve/Dockerfile
+++ b/docker/serve/Dockerfile
@@ -4,8 +4,8 @@ ARG CUDNN="8"
 FROM pytorch/pytorch:${PYTORCH}-cuda${CUDA}-cudnn${CUDNN}-devel
 
 ARG MMCV="2.0.0rc4"
-ARG MMDET="3.0.0rc5"
-ARG MMDET3D="1.1.0rc3"
+ARG MMDET="3.0.0"
+ARG MMDET3D="1.1.0"
 
 ENV PYTHONUNBUFFERED TRUE
 
diff --git a/docs/en/get_started.md b/docs/en/get_started.md
index 23adcb6b73..7a623c9548 100644
--- a/docs/en/get_started.md
+++ b/docs/en/get_started.md
@@ -44,11 +44,11 @@ We recommend that users follow our best practices to install MMDetection3D. Howe
 ```shell
 pip install -U openmim
 mim install mmengine
-mim install 'mmcv>=2.0.0rc1'
-mim install 'mmdet>=3.0.0rc0'
+mim install 'mmcv>=2.0.0rc4'
+mim install 'mmdet>=3.0.0'
 ```
 
-**Note**: In MMCV-v2.x, `mmcv-full` is renamed to `mmcv`, if you want to install `mmcv` without CUDA ops, you can use `mim install "mmcv-lite>=2.0.0rc1"` to install the lite version.
+**Note**: In MMCV-v2.x, `mmcv-full` is renamed to `mmcv`, if you want to install `mmcv` without CUDA ops, you can use `mim install "mmcv-lite>=2.0.0rc4"` to install the lite version.
 
 **Step 1.** Install MMDetection3D.
 
@@ -227,7 +227,7 @@ To install MMCV with pip instead of MIM, please follow [MMCV installation guides
 For example, the following command install MMCV built for PyTorch 1.12.x and CUDA 11.6:
 
 ```shell
-pip install "mmcv>=2.0.0rc1" -f https://download.openmmlab.com/mmcv/dist/cu116/torch1.12.0/index.html
+pip install "mmcv>=2.0.0rc4" -f https://download.openmmlab.com/mmcv/dist/cu116/torch1.12.0/index.html
 ```
 
 #### Install on Google Colab
@@ -239,8 +239,8 @@ pip install "mmcv>=2.0.0rc1" -f https://download.openmmlab.com/mmcv/dist/cu116/t
 ```shell
 !pip3 install openmim
 !mim install mmengine
-!mim install "mmcv>=2.0.0rc1,<2.1.0"
-!mim install "mmdet>=3.0.0rc0,<3.1.0"
+!mim install "mmcv>=2.0.0rc4,<2.1.0"
+!mim install "mmdet>=3.0.0,<3.1.0"
 ```
 
 **Step 2.** Install MMDetection3D from source.
diff --git a/docs/en/notes/faq.md b/docs/en/notes/faq.md
index 6a0b61776b..d1bc10e58e 100644
--- a/docs/en/notes/faq.md
+++ b/docs/en/notes/faq.md
@@ -46,6 +46,8 @@ We list some potential troubles encountered by users and developers, along with
 
   `pip install -e "git+https://github.com/ppwwyyxx/cocoapi#egg=pycocotools&subdirectory=PythonAPI"`
 
+- If you face some errors about numba in cuda-9.0 environment, you should check the version of numba. In cuda-9.0 environment, the high version of numba is not supported and we suggest you could install numba==0.53.0.
+
 ## How to annotate point cloud?
 
 MMDetection3D does not support point cloud annotation. Some open-source annotation tool are offered for reference:
diff --git a/docs/zh_cn/get_started.md b/docs/zh_cn/get_started.md
index 16a0d2bba6..5b3dbf57b7 100644
--- a/docs/zh_cn/get_started.md
+++ b/docs/zh_cn/get_started.md
@@ -45,10 +45,10 @@ conda install pytorch torchvision cpuonly -c pytorch
 pip install -U openmim
 mim install mmengine
 mim install 'mmcv>=2.0.0rc4'
-mim install 'mmdet>=3.0.0rc0'
+mim install 'mmdet>=3.0.0'
 ```
 
-**注意**：在 MMCV-v2.x 中，`mmcv-full` 改名为 `mmcv`，如果您想安装不包含 CUDA 算子的 `mmcv`，您可以使用 `mim install "mmcv-lite>=2.0.0rc1"` 安装精简版。
+**注意**：在 MMCV-v2.x 中，`mmcv-full` 改名为 `mmcv`，如果您想安装不包含 CUDA 算子的 `mmcv`，您可以使用 `mim install "mmcv-lite>=2.0.0rc4"` 安装精简版。
 
 **步骤 1.** 安装 MMDetection3D。
 
@@ -224,7 +224,7 @@ MMCV 包含 C++ 和 CUDA 拓展，因此其对 PyTorch 的依赖更复杂。MIM
 例如，下述指令将会安装基于 PyTorch 1.12.x 和 CUDA 11.6 编译的 MMCV：
 
 ```shell
-pip install "mmcv>=2.0.0rc1" -f https://download.openmmlab.com/mmcv/dist/cu116/torch1.12.0/index.html
+pip install "mmcv>=2.0.0rc4" -f https://download.openmmlab.com/mmcv/dist/cu116/torch1.12.0/index.html
 ```
 
 #### 在 Google Colab 中安装
@@ -236,8 +236,8 @@ pip install "mmcv>=2.0.0rc1" -f https://download.openmmlab.com/mmcv/dist/cu116/t
 ```shell
 !pip3 install openmim
 !mim install mmengine
-!mim install "mmcv>=2.0.0rc1,<2.1.0"
-!mim install "mmdet>=3.0.0rc0,<3.1.0"
+!mim install "mmcv>=2.0.0rc4,<2.1.0"
+!mim install "mmdet>=3.0.0,<3.1.0"
 ```
 
 **步骤 2.** 从源码安装 MMDetection3D。
diff --git a/docs/zh_cn/notes/faq.md b/docs/zh_cn/notes/faq.md
index 1314db48e8..6b5a98969a 100644
--- a/docs/zh_cn/notes/faq.md
+++ b/docs/zh_cn/notes/faq.md
@@ -10,9 +10,10 @@
 
   | MMDetection3D 版本 |      MMEngine 版本       |        MMCV 版本        |     MMDetection 版本     |
   | ------------------ | :----------------------: | :---------------------: | :----------------------: |
-  | dev-1.x            | mmengine>=0.6.0, \<1.0.0 | mmcv>=2.0.0rc4, \<2.1.0 | mmdet>=3.0.0rc0, \<3.1.0 |
-  | v1.1.0rc3          | mmengine>=0.1.0, \<1.0.0 | mmcv>=2.0.0rc0, \<2.1.0 | mmdet>=3.0.0rc0, \<3.1.0 |
-  | v1.1.0rc2          | mmengine>=0.1.0, \<1.0.0 | mmcv>=2.0.0rc0, \<2.1.0 | mmdet>=3.0.0rc0, \<3.1.0 |
+  | dev-1.x            | mmengine>=0.7.1, \<1.0.0 | mmcv>=2.0.0rc4, \<2.1.0 |  mmdet>=3.0.0, \<3.1.0   |
+  | main               | mmengine>=0.7.1, \<1.0.0 | mmcv>=2.0.0rc4, \<2.1.0 |  mmdet>=3.0.0, \<3.1.0   |
+  | v1.1.0rc3          | mmengine>=0.1.0, \<1.0.0 | mmcv>=2.0.0rc3, \<2.1.0 | mmdet>=3.0.0rc0, \<3.1.0 |
+  | v1.1.0rc2          | mmengine>=0.1.0, \<1.0.0 | mmcv>=2.0.0rc3, \<2.1.0 | mmdet>=3.0.0rc0, \<3.1.0 |
   | v1.1.0rc1          | mmengine>=0.1.0, \<1.0.0 | mmcv>=2.0.0rc0, \<2.1.0 | mmdet>=3.0.0rc0, \<3.1.0 |
   | v1.1.0rc0          | mmengine>=0.1.0, \<1.0.0 | mmcv>=2.0.0rc0, \<2.1.0 | mmdet>=3.0.0rc0, \<3.1.0 |
 
@@ -45,6 +46,8 @@
 
   `pip install -e "git+https://github.com/ppwwyyxx/cocoapi#egg=pycocotools&subdirectory=PythonAPI"`
 
+- 如果您使用 cuda-9.0 的环境并遇到关于 numba 的错误， 您应该检查下 numba 的版本。在 cuda-9.0 环境中，高版本的 numba 是不支持的，我们建议安装 numba==0.53.0.
+
 ## 如何标注点云？
 
 MMDetection3D 不支持点云标注。我们提供一些开源的标注工具供参考：
diff --git a/mmdet3d/version.py b/mmdet3d/version.py
index 16c60a314d..4e895f2fd6 100644
--- a/mmdet3d/version.py
+++ b/mmdet3d/version.py
@@ -12,7 +12,7 @@ def parse_version_info(version_str):
 
     Returns:
         tuple[int | str]: The version info, e.g., "1.3.0" is parsed into
-            (1, 3, 0), and "2.0.0rc1" is parsed into (2, 0, 0, 'rc1').
+            (1, 3, 0), and "2.0.0rc4" is parsed into (2, 0, 0, 'rc4').
     """
     version_info = []
     for x in version_str.split('.'):
diff --git a/requirements/mminstall.txt b/requirements/mminstall.txt
index 0f8afd34c1..7833d61532 100644
--- a/requirements/mminstall.txt
+++ b/requirements/mminstall.txt
@@ -1,3 +1,3 @@
 mmcv>=2.0.0rc4,<2.1.0
-mmdet>=3.0.0rc0,<3.1.0
-mmengine>=0.6.0,<1.0.0
+mmdet>=3.0.0,<3.1.0
+mmengine>=0.7.1,<1.0.0
diff --git a/requirements/readthedocs.txt b/requirements/readthedocs.txt
index 4781e08577..4a334703ef 100644
--- a/requirements/readthedocs.txt
+++ b/requirements/readthedocs.txt
@@ -1,5 +1,5 @@
 mmcv>=2.0.0rc4
-mmdet>=3.0.0rc0
-mmengine>=0.6.0
+mmdet>=3.0.0
+mmengine>=0.7.1
 torch
 torchvision
diff --git a/requirements/runtime.txt b/requirements/runtime.txt
index c0e8c19be3..705f7f49db 100644
--- a/requirements/runtime.txt
+++ b/requirements/runtime.txt
@@ -1,6 +1,6 @@
 lyft_dataset_sdk
 networkx>=2.5
-numba==0.53.0
+numba # you should install numba==0.53.0 if your environment is cuda-9.0
 numpy
 nuscenes-devkit
 open3d