diff --git a/.github/workflows/generate-conda-packages.yaml b/.github/workflows/generate-conda-packages.yaml
index 63e353be1..7a59487a1 100644
--- a/.github/workflows/generate-conda-packages.yaml
+++ b/.github/workflows/generate-conda-packages.yaml
@@ -161,8 +161,6 @@ jobs:
             cat */meta.yaml
             cat */bld.bat
             cat */build.sh
-            # Do not generate walking-controllers, workaround for https://github.com/robotology/robotology-superbuild/issues/1572#issuecomment-1912146946
-            rm -rf walking-controllers
             # We use the conda_build_config from conda-forge-pinning, and our local one
             # See https://docs.conda.io/projects/conda-build/en/latest/resources/variants.html#creating-conda-build-variant-config-files
             # We manually specify the build order as conda build is too slow, and conda mambabuild does not support correctly multiple recipes
diff --git a/cmake/ProjectsTagsStable.cmake b/cmake/ProjectsTagsStable.cmake
index 6aece1a34..336ee8df9 100644
--- a/cmake/ProjectsTagsStable.cmake
+++ b/cmake/ProjectsTagsStable.cmake
@@ -9,8 +9,8 @@ set_tag(osqp_TAG v0.6.3)
 set_tag(manif_REPOSITORY robotology-dependencies/manif.git)
 set_tag(manif_TAG 0.0.4.103)
 set_tag(qhull_TAG 2020.2)
-set_tag(CppAD_TAG 20230000.0)
-set_tag(proxsuite_TAG v0.4.1)
+set_tag(CppAD_TAG 20240000.2)
+set_tag(proxsuite_TAG v0.6.3)
 set_tag(casadi_TAG 3.6.3)
 set_tag(casadi-matlab-bindings_TAG v3.6.3.0)
 
diff --git a/cmake/ProjectsTagsUnstable.cmake b/cmake/ProjectsTagsUnstable.cmake
index 11deceb80..f48dcf408 100644
--- a/cmake/ProjectsTagsUnstable.cmake
+++ b/cmake/ProjectsTagsUnstable.cmake
@@ -9,8 +9,8 @@ set_tag(osqp_TAG v0.6.3)
 set_tag(manif_REPOSITORY robotology-dependencies/manif.git)
 set_tag(manif_TAG 0.0.4.103)
 set_tag(qhull_TAG 2020.2)
-set_tag(CppAD_TAG 20230000.0)
-set_tag(proxsuite_TAG v0.4.1)
+set_tag(CppAD_TAG 20240000.2)
+set_tag(proxsuite_TAG v0.6.3)
 set_tag(casadi_TAG 3.6.3)
 set_tag(casadi-matlab-bindings_TAG v3.6.3.0)
 
diff --git a/releases/latest.releases.yaml b/releases/latest.releases.yaml
index 2f71dc8d0..6cc4df41c 100644
--- a/releases/latest.releases.yaml
+++ b/releases/latest.releases.yaml
@@ -18,7 +18,7 @@ repositories:
   CppAD:
     type: git
     url: https://github.com/coin-or/CppAD.git
-    version: 20230000.0
+    version: 20240000.2
   casadi:
     type: git
     url: https://github.com/casadi/casadi.git
@@ -250,7 +250,7 @@ repositories:
   proxsuite:
     type: git
     url: https://github.com/Simple-Robotics/proxsuite.git
-    version: v0.6.0
+    version: v0.6.3
   BayesFilters:
     type: git
     url: https://github.com/robotology/bayes-filters-lib.git