diff --git a/metadrive/base_class/base_object.py b/metadrive/base_class/base_object.py
index 7fa20f663..bc2f886fc 100644
--- a/metadrive/base_class/base_object.py
+++ b/metadrive/base_class/base_object.py
@@ -8,10 +8,9 @@
 from typing import Dict
 
 import numpy as np
-import seaborn as sns
 from panda3d.bullet import BulletWorld, BulletBodyNode, BulletVehicle
 from panda3d.core import LVector3, NodePath, PandaNode
-from metadrive.constants import Semantics, CameraTagStateKey
+from metadrive.constants import Semantics, CameraTagStateKey, COLOR_PALETTE
 from metadrive.base_class.base_runnable import BaseRunnable
 from metadrive.constants import ObjectState
 from metadrive.engine.asset_loader import AssetLoader
@@ -151,8 +150,8 @@ def __init__(self, name=None, random_seed=None, config=None, escape_random_seed_
                 self.loader.__init__()
 
         # add color setting for visualization
-        color = sns.color_palette("colorblind")
-        color.remove(color[2])  # Remove the green and leave it for special vehicle
+        color = COLOR_PALETTE.copy()
+        color.pop(2)  # Remove the green and leave it for special vehicle
         idx = get_np_random().randint(len(color))
         rand_c = color[idx]
         self._panda_color = rand_c
diff --git a/metadrive/component/vehicle/base_vehicle.py b/metadrive/component/vehicle/base_vehicle.py
index f6890b89a..642650d2f 100644
--- a/metadrive/component/vehicle/base_vehicle.py
+++ b/metadrive/component/vehicle/base_vehicle.py
@@ -4,7 +4,6 @@
 from typing import Union, Optional
 
 import numpy as np
-import seaborn as sns
 from panda3d._rplight import RPSpotLight
 from panda3d.bullet import BulletVehicle, BulletBoxShape, ZUp
 from panda3d.core import Material, Vec3, TransformState
@@ -17,7 +16,7 @@
 from metadrive.component.lane.straight_lane import StraightLane
 from metadrive.component.navigation_module.node_network_navigation import NodeNetworkNavigation
 from metadrive.component.pg_space import VehicleParameterSpace, ParameterSpace
-from metadrive.constants import CamMask
+from metadrive.constants import CamMask, COLOR_PALETTE
 from metadrive.constants import MetaDriveType, CollisionGroup
 from metadrive.constants import Semantics
 from metadrive.engine.asset_loader import AssetLoader
@@ -992,7 +991,7 @@ def lane_index(self):
     def panda_color(self):
         c = super(BaseVehicle, self).panda_color
         if self._use_special_color:
-            color = sns.color_palette("colorblind")
+            color = COLOR_PALETTE
             rand_c = color[2]  # A pretty green
             c = rand_c
         return c
diff --git a/metadrive/constants.py b/metadrive/constants.py
index 00f5cc5bd..55c84f28e 100644
--- a/metadrive/constants.py
+++ b/metadrive/constants.py
@@ -546,3 +546,15 @@ class CameraTagStateKey:
 
 DEFAULT_SENSOR_OFFSET = (0., 0.8, 1.5)
 DEFAULT_SENSOR_HPR = (0., 0.0, 0.0)
+
+COLOR_PALETTE = [(0.00392156862745098, 0.45098039215686275, 0.6980392156862745),
+                 (0.8705882352941177, 0.5607843137254902, 0.0196078431372549),
+                 (0.00784313725490196, 0.6196078431372549, 0.45098039215686275),
+                 (0.8352941176470589, 0.3686274509803922, 0.0),
+                 (0.8, 0.47058823529411764, 0.7372549019607844),
+                 (0.792156862745098, 0.5686274509803921, 0.3803921568627451),
+                 (0.984313725490196, 0.6862745098039216, 0.8941176470588236),
+                 (0.5803921568627451, 0.5803921568627451, 0.5803921568627451),
+                 (0.9254901960784314, 0.8823529411764706, 0.2),
+                 (0.33725490196078434, 0.7058823529411765, 0.9137254901960784)]
+
diff --git a/metadrive/tests/test_env/test_metadrive_env.py b/metadrive/tests/test_env/test_metadrive_env.py
index 0a140753d..73a8fa567 100644
--- a/metadrive/tests/test_env/test_metadrive_env.py
+++ b/metadrive/tests/test_env/test_metadrive_env.py
@@ -1,12 +1,11 @@
 import copy
-import seaborn as sns
 import os
 
 import numpy as np
 import pytest
 
 from metadrive import MetaDriveEnv
-from metadrive.constants import TerminationState
+from metadrive.constants import TerminationState, COLOR_PALETTE
 
 # Key: scenario name, value: environmental config
 blackbox_test_configs = dict(
@@ -60,7 +59,7 @@ def test_pgdrive_env_blackbox(config):
     env = MetaDriveEnv(config=cfg)
     try:
         obs, _ = env.reset()
-        assert env.agent.panda_color == sns.color_palette("colorblind")[2]
+        assert env.agent.panda_color == COLOR_PALETTE[2]
         assert env.observation_space.contains(obs)
         _act(env, env.action_space.sample())
         for x in [-1, 0, 1]:
diff --git a/metadrive/tests/test_env/test_waymo_env.py b/metadrive/tests/test_env/test_waymo_env.py
index f95085447..76372edec 100644
--- a/metadrive/tests/test_env/test_waymo_env.py
+++ b/metadrive/tests/test_env/test_waymo_env.py
@@ -1,7 +1,7 @@
 import pytest
-import seaborn as sns
 import numpy as np
 
+from metadrive.constants import COLOR_PALETTE
 from metadrive.engine.asset_loader import AssetLoader
 from metadrive.envs.scenario_env import ScenarioEnv
 from metadrive.policy.idm_policy import TrajectoryIDMPolicy
@@ -38,7 +38,7 @@ def test_waymo_env(policy, render=False, num_scenarios=3):
 
                 if i == 999:
                     raise ValueError("Can not arrive dest")
-            assert env.agent.panda_color == sns.color_palette("colorblind")[2]
+            assert env.agent.panda_color == COLOR_PALETTE[2]
     finally:
         env.close()
 
diff --git a/setup.py b/setup.py
index da5e82984..7b547baa5 100644
--- a/setup.py
+++ b/setup.py
@@ -45,7 +45,6 @@ def is_win():
     "pygame",
     "tqdm",
     "yapf",
-    "seaborn",
     "tqdm",
     "progressbar",
     # "panda3d==1.10.8",