diff --git a/cmake/MujocoDependencies.cmake b/cmake/MujocoDependencies.cmake
index 2b07a4c9..ca935cbc 100644
--- a/cmake/MujocoDependencies.cmake
+++ b/cmake/MujocoDependencies.cmake
@@ -39,12 +39,12 @@ set(MUJOCO_DEP_VERSION_qhull
     CACHE STRING "Version of `qhull` to be fetched."
 )
 set(MUJOCO_DEP_VERSION_Eigen3
-    4be7e6b4e0a82853e853c0c7c4ef72f395e1f497
+    4033cfcc1dd45b3cdf7285afd93556f2cfbe9425
     CACHE STRING "Version of `Eigen3` to be fetched."
 )
 
 set(MUJOCO_DEP_VERSION_abseil
-    987c57f325f7fa8472fa84e1f885f7534d391b0d # LTS 20250814.0
+    d38452e1ee03523a208362186fd42248ff2609f6 # LTS 20250814.1
     CACHE STRING "Version of `abseil` to be fetched."
 )
 
@@ -54,7 +54,7 @@ set(MUJOCO_DEP_VERSION_gtest
 )
 
 set(MUJOCO_DEP_VERSION_benchmark
-    049f6e79cc3e8636cec21bbd94ed185b4a5f2653
+    5f7d66929fb66869d96dfcbacf0d8a586b33766d
     CACHE STRING "Version of `benchmark` to be fetched."
 )
 
diff --git a/doc/changelog.rst b/doc/changelog.rst
index 93625f24..b425d9c6 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -2,7 +2,7 @@
 Changelog
 =========
 
-Upcoming version (not yet released)
+Version 3.4.0 (October 13, 2025)
 -----------------------------------
 
 General
diff --git a/python/mujoco/CMakeLists.txt b/python/mujoco/CMakeLists.txt
index 2aa46892..ecd0d628 100644
--- a/python/mujoco/CMakeLists.txt
+++ b/python/mujoco/CMakeLists.txt
@@ -140,7 +140,7 @@ findorfetch(
   GIT_REPO
   https://github.com/abseil/abseil-cpp
   GIT_TAG
-  987c57f325f7fa8472fa84e1f885f7534d391b0d # LTS 20250814.0.0
+  d38452e1ee03523a208362186fd42248ff2609f6 # LTS 20250814.1
   TARGETS
   ${MUJOCO_PYTHON_ABSL_TARGETS}
   EXCLUDE_FROM_ALL
@@ -173,7 +173,7 @@ findorfetch(
   GIT_REPO
   https://gitlab.com/libeigen/eigen
   GIT_TAG
-  4be7e6b4e0a82853e853c0c7c4ef72f395e1f497
+  4033cfcc1dd45b3cdf7285afd93556f2cfbe9425
   TARGETS
   Eigen3::Eigen
   EXCLUDE_FROM_ALL