diff --git a/pytorch3d/transforms/__init__.py b/pytorch3d/transforms/__init__.py
index 8769c16b..d32ba792 100644
--- a/pytorch3d/transforms/__init__.py
+++ b/pytorch3d/transforms/__init__.py
@@ -2,6 +2,7 @@
 
 from .rotation_conversions import (
     axis_angle_to_matrix,
+    axis_angle_to_quaternion,
     euler_angles_to_matrix,
     matrix_to_euler_angles,
     matrix_to_quaternion,
@@ -10,6 +11,7 @@ from .rotation_conversions import (
     quaternion_invert,
     quaternion_multiply,
     quaternion_raw_multiply,
+    quaternion_to_axis_angle,
     quaternion_to_matrix,
     random_quaternions,
     random_rotation,