diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
index b7aa7f3a..0362236f 100644
--- a/.github/workflows/ubuntu.yml
+++ b/.github/workflows/ubuntu.yml
@@ -16,7 +16,7 @@ jobs:
       NPROC: 2
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Setup cache
         uses: actions/cache@v3
         with:
@@ -33,7 +33,7 @@ jobs:
       - name: Set up Python version
         uses: actions/setup-python@v4
         with:
-          python-version: "3.10"
+          python-version: "3.11"
       # Pre-installed  packages: https://github.com/actions/runner-images/tree/main/images
       - name: Install ccache
         run: |
diff --git a/ci/run_ci.sh b/ci/run_ci.sh
index 608d3aad..08bad0cd 100755
--- a/ci/run_ci.sh
+++ b/ci/run_ci.sh
@@ -1,54 +1,41 @@
 #!/usr/bin/env bash
-#
-# The following environment variables are required:
-# - NPROC
-#
-TENSORFLOW_VER="2.8.2"
-TORCH_GLNX_VER="1.13.1+cpu"
-# OPENVINO_DEV_VER="2021.4.2"  # Numpy version conflict with TF 2.8.2
-PIP_VER="21.1.1"
-WHEEL_VER="0.38.4"
-STOOLS_VER="67.3.2"
-YAPF_VER="0.30.0"
-PYTEST_VER="7.1.2"
-PYTEST_RANDOMLY_VER="3.8.0"
 
 set -euo pipefail
 
+NPROC=${NPROC:?'env var must be set to number of available CPUs.'}
+PIP_VER="23.2.1"
+
 echo 1. Prepare the Open3D-ML repo and install dependencies
 echo
-export PATH_TO_OPEN3D_ML=$(pwd)
+export PATH_TO_OPEN3D_ML="$PWD"
+echo "$PATH_TO_OPEN3D_ML"
 # the build system of the main repo expects a master branch. make sure master exists
 git checkout -b master || true
-python -m pip install -U pip==$PIP_VER \
-    wheel=="$WHEEL_VER" \
-    setuptools=="$STOOLS_VER" \
-    yapf=="$YAPF_VER" \
-    pytest=="$PYTEST_VER" \
-    pytest-randomly=="$PYTEST_RANDOMLY_VER"
-
-python -m pip install -r requirements.txt
-echo $PATH_TO_OPEN3D_ML
+python -m pip install -U pip==$PIP_VER
+python -m pip install -r requirements.txt \
+    -r requirements-torch.txt
+# -r requirements-tensorflow.txt # TF disabled on Linux (Open3D PR#6288)
+# -r requirements-openvino.txt # Numpy version conflict with TF 2.8.2
 cd ..
 python -m pip install -U Cython
 
 echo 2. clone Open3D and install dependencies
 echo
-git clone --recursive --branch master https://github.com/isl-org/Open3D.git
+git clone --branch master https://github.com/isl-org/Open3D.git
 
 ./Open3D/util/install_deps_ubuntu.sh assume-yes
-python -m pip install -U tensorflow-cpu==$TENSORFLOW_VER \
-    torch==${TORCH_GLNX_VER} --extra-index-url https://download.pytorch.org/whl/cpu/
-# openvino-dev=="$OPENVINO_DEV_VER"
+python -m pip install -r Open3D/python/requirements.txt \
+    -r Open3D/python/requirements_test.txt
 
 echo 3. Configure for bundling the Open3D-ML part
 echo
 mkdir Open3D/build
 pushd Open3D/build
+# TF disabled on Linux (Open3D PR#6288)
 cmake -DBUNDLE_OPEN3D_ML=ON \
-    -DOPEN3D_ML_ROOT=$PATH_TO_OPEN3D_ML \
+    -DOPEN3D_ML_ROOT="${PATH_TO_OPEN3D_ML}" \
     -DGLIBCXX_USE_CXX11_ABI=OFF \
-    -DBUILD_TENSORFLOW_OPS=ON \
+    -DBUILD_TENSORFLOW_OPS=OFF \
     -DBUILD_PYTORCH_OPS=ON \
     -DBUILD_GUI=ON \
     -DBUILD_UNIT_TESTS=OFF \
@@ -66,12 +53,13 @@ echo
 popd
 mkdir test_workdir
 pushd test_workdir
-mv $PATH_TO_OPEN3D_ML/tests .
+mv "$PATH_TO_OPEN3D_ML/tests" .
 echo Add --randomly-seed=SEED to the test command to reproduce test order.
 python -m pytest tests
 
-echo ... now do the same but in dev mode by setting OPEN3D_ML_ROOT
-export OPEN3D_ML_ROOT=$PATH_TO_OPEN3D_ML
+echo "... now do the same but in dev mode by setting OPEN3D_ML_ROOT"
+echo
+export OPEN3D_ML_ROOT="$PATH_TO_OPEN3D_ML"
 echo Add --randomly-seed=SEED to the test command to reproduce test order.
 python -m pytest tests
 unset OPEN3D_ML_ROOT