diff --git a/pyproject.toml b/pyproject.toml
index 2804aa957..8d9b0c35f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -53,7 +53,6 @@ dependencies = [
     "einops>=0.8.0",
     "flask>=3.0.3",
     "gdown>=5.1.0",
-    "grpcio>=1.70.0",
     "gymnasium==0.29.1",                                                 # TODO(rcadene, aliberts): Make gym 1.0.0 work
     "h5py>=3.10.0",
     "huggingface-hub[hf-transfer,cli]>=0.27.1 ; python_version < '4.0'",
@@ -85,7 +84,7 @@ dora = [
 ]
 dynamixel = ["dynamixel-sdk>=3.7.31", "pynput>=1.7.7"]
 feetech = ["feetech-servo-sdk>=1.0.0", "pynput>=1.7.7"]
-hilserl = ["transformers>=4.48.0", "torchmetrics>=1.6.0", "gym-hil>=0.1.2", "protobuf>=5.29.3"]
+hilserl = ["transformers>=4.48.0", "torchmetrics>=1.6.0", "gym-hil>=0.1.2", "protobuf>=5.29.3", "grpcio>=1.70.0"]
 intelrealsense = ["pyrealsense2>=2.55.1.6486 ; sys_platform != 'darwin'"]
 pi0 = ["transformers>=4.48.0"]
 pusht = ["gym-pusht>=0.1.5 ; python_version < '4.0'"]