diff --git a/pyproject.toml b/pyproject.toml
index 78ee5c51a4..5c824bdc16 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -103,8 +103,6 @@ misc = [
     "timm>=1.0.15",
     "edgetam-dimos",
     "opencv-contrib-python==4.10.0.84",
-    "omegaconf>=2.3.0",
-    "hydra-core>=1.3.0",
 
     # embedding models
     "open_clip_torch==3.2.0",
@@ -163,6 +161,8 @@ perception = [
     "lap>=0.5.12",
     "transformers[torch]==4.49.0",
     "moondream",
+    "omegaconf>=2.3.0",
+    "hydra-core>=1.3.0",
 ]
 
 unitree = [
diff --git a/uv.lock b/uv.lock
index b1c2bece00..7ba440c66e 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1434,6 +1434,7 @@ base = [
     { name = "fastapi" },
     { name = "ffmpeg-python" },
     { name = "filterpy" },
+    { name = "hydra-core" },
     { name = "langchain" },
     { name = "langchain-chroma" },
     { name = "langchain-core" },
@@ -1446,6 +1447,7 @@ base = [
     { name = "moondream" },
     { name = "mujoco" },
     { name = "ollama" },
+    { name = "omegaconf" },
     { name = "openai" },
     { name = "openai-whisper" },
     { name = "pillow" },
@@ -1532,10 +1534,8 @@ misc = [
     { name = "empy" },
     { name = "gdown" },
     { name = "googlemaps" },
-    { name = "hydra-core" },
     { name = "ipykernel" },
     { name = "lark" },
-    { name = "omegaconf" },
     { name = "onnx" },
     { name = "open-clip-torch" },
     { name = "opencv-contrib-python" },
@@ -1554,8 +1554,10 @@ misc = [
 ]
 perception = [
     { name = "filterpy" },
+    { name = "hydra-core" },
     { name = "lap" },
     { name = "moondream" },
+    { name = "omegaconf" },
     { name = "pillow" },
     { name = "transformers", extra = ["torch"] },
     { name = "ultralytics" },
@@ -1571,6 +1573,7 @@ unitree = [
     { name = "fastapi" },
     { name = "ffmpeg-python" },
     { name = "filterpy" },
+    { name = "hydra-core" },
     { name = "langchain" },
     { name = "langchain-chroma" },
     { name = "langchain-core" },
@@ -1583,6 +1586,7 @@ unitree = [
     { name = "moondream" },
     { name = "mujoco" },
     { name = "ollama" },
+    { name = "omegaconf" },
     { name = "openai" },
     { name = "openai-whisper" },
     { name = "pillow" },
@@ -1634,7 +1638,7 @@ requires-dist = [
     { name = "gdown", marker = "extra == 'misc'", specifier = "==5.2.0" },
     { name = "googlemaps", marker = "extra == 'misc'", specifier = ">=4.10.0" },
     { name = "h5py", marker = "extra == 'manipulation'", specifier = ">=3.7.0" },
-    { name = "hydra-core", marker = "extra == 'misc'", specifier = ">=1.3.0" },
+    { name = "hydra-core", marker = "extra == 'perception'", specifier = ">=1.3.0" },
     { name = "ipykernel", marker = "extra == 'misc'" },
     { name = "kaleido", marker = "extra == 'manipulation'", specifier = ">=0.2.1" },
     { name = "langchain", marker = "extra == 'agents'", specifier = ">=1,<2" },
@@ -1660,7 +1664,7 @@ requires-dist = [
     { name = "numpy", specifier = ">=1.26.4" },
     { name = "nvidia-nvimgcodec-cu12", extras = ["all"], marker = "extra == 'cuda'" },
     { name = "ollama", marker = "extra == 'agents'", specifier = ">=0.6.0" },
-    { name = "omegaconf", marker = "extra == 'misc'", specifier = ">=2.3.0" },
+    { name = "omegaconf", marker = "extra == 'perception'", specifier = ">=2.3.0" },
     { name = "onnx", marker = "extra == 'misc'" },
     { name = "onnxruntime", marker = "extra == 'cpu'" },
     { name = "onnxruntime-gpu", marker = "extra == 'cuda'", specifier = ">=1.17.1" },