From c9308d7e5eaf7e49012531565920587fd580fd56 Mon Sep 17 00:00:00 2001
From: maryam-zia <maryam.zia@unity3d.com>
Date: Thu, 30 Oct 2025 15:25:47 -0400
Subject: [PATCH 01/26] Change colab ubuntu version.

---
 .github/workflows/colab.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/colab.yml b/.github/workflows/colab.yml
index 7946adfd5d..4ece61ca6a 100644
--- a/.github/workflows/colab.yml
+++ b/.github/workflows/colab.yml
@@ -16,7 +16,7 @@ on:
 
 jobs:
   colab:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
     env:
         COLAB_ALWAYS_INSTALL_XVFB: 1
         QLEARNING_NUM_TRAINING_STEPS: 5

From bd3c61988fa2501a2f121fa1a7ca0716bc1b51c0 Mon Sep 17 00:00:00 2001
From: maryam-zia <maryam.zia@unity3d.com>
Date: Thu, 30 Oct 2025 15:59:11 -0400
Subject: [PATCH 02/26] Add timeout parameter.

---
 .github/workflows/colab.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/colab.yml b/.github/workflows/colab.yml
index 4ece61ca6a..e3ce570986 100644
--- a/.github/workflows/colab.yml
+++ b/.github/workflows/colab.yml
@@ -54,7 +54,7 @@ jobs:
         python -m pip install --progress-bar=off -e ./ml-agents
         python -m pip install --progress-bar=off -r colab_requirements.txt
     - name: Execute notebook
-      run: jupyter nbconvert --to notebook --execute --log-level=DEBUG --ExecutePreprocessor.kernel_name=python3 --output output-${{ matrix.notebook_path }} colab/${{ matrix.notebook_path }}
+      run: jupyter nbconvert --to notebook --execute --log-level=DEBUG --ExecutePreprocessor.kernel_name=python3 --ExecutePreprocessor.timeout=600 --output output-${{ matrix.notebook_path }} colab/${{ matrix.notebook_path }}
     - name: Upload colab results
       uses: actions/upload-artifact@v4
       with:

From 88f53945c3bc6760f3fe01ca565bf703cf3f9b9b Mon Sep 17 00:00:00 2001
From: maryam-zia <maryam.zia@unity3d.com>
Date: Thu, 30 Oct 2025 16:25:32 -0400
Subject: [PATCH 03/26] Move timeout to colab

---
 .github/workflows/colab.yml              | 4 ++--
 colab/Colab_UnityEnvironment_1_Run.ipynb | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/colab.yml b/.github/workflows/colab.yml
index e3ce570986..7946adfd5d 100644
--- a/.github/workflows/colab.yml
+++ b/.github/workflows/colab.yml
@@ -16,7 +16,7 @@ on:
 
 jobs:
   colab:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     env:
         COLAB_ALWAYS_INSTALL_XVFB: 1
         QLEARNING_NUM_TRAINING_STEPS: 5
@@ -54,7 +54,7 @@ jobs:
         python -m pip install --progress-bar=off -e ./ml-agents
         python -m pip install --progress-bar=off -r colab_requirements.txt
     - name: Execute notebook
-      run: jupyter nbconvert --to notebook --execute --log-level=DEBUG --ExecutePreprocessor.kernel_name=python3 --ExecutePreprocessor.timeout=600 --output output-${{ matrix.notebook_path }} colab/${{ matrix.notebook_path }}
+      run: jupyter nbconvert --to notebook --execute --log-level=DEBUG --ExecutePreprocessor.kernel_name=python3 --output output-${{ matrix.notebook_path }} colab/${{ matrix.notebook_path }}
     - name: Upload colab results
       uses: actions/upload-artifact@v4
       with:
diff --git a/colab/Colab_UnityEnvironment_1_Run.ipynb b/colab/Colab_UnityEnvironment_1_Run.ipynb
index e70dca7b8a..471a598abf 100644
--- a/colab/Colab_UnityEnvironment_1_Run.ipynb
+++ b/colab/Colab_UnityEnvironment_1_Run.ipynb
@@ -217,7 +217,7 @@
     "\n",
     "from mlagents_envs.registry import default_registry\n",
     "\n",
-    "env = default_registry[env_id].make()"
+    "env = default_registry[env_id].make(timeout_wait=120)"
    ],
    "execution_count": 3,
    "outputs": [

From ef463fb394b8a87380a9ae11fd8ab70f416b587b Mon Sep 17 00:00:00 2001
From: maryam-zia <maryam.zia@unity3d.com>
Date: Thu, 30 Oct 2025 16:36:24 -0400
Subject: [PATCH 04/26] Bump to latest

---
 .github/workflows/colab.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/colab.yml b/.github/workflows/colab.yml
index 7946adfd5d..4ece61ca6a 100644
--- a/.github/workflows/colab.yml
+++ b/.github/workflows/colab.yml
@@ -16,7 +16,7 @@ on:
 
 jobs:
   colab:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
     env:
         COLAB_ALWAYS_INSTALL_XVFB: 1
         QLEARNING_NUM_TRAINING_STEPS: 5

From 9c63f168c5f1b6b4ac8f02c68aa878b6c83db5e0 Mon Sep 17 00:00:00 2001
From: maryam-zia <maryam.zia@unity3d.com>
Date: Thu, 30 Oct 2025 16:45:52 -0400
Subject: [PATCH 05/26] Remove upper bound limit

---
 .github/workflows/colab.yml              | 2 +-
 colab/Colab_UnityEnvironment_1_Run.ipynb | 2 +-
 ml-agents/setup.py                       | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/colab.yml b/.github/workflows/colab.yml
index 4ece61ca6a..7946adfd5d 100644
--- a/.github/workflows/colab.yml
+++ b/.github/workflows/colab.yml
@@ -16,7 +16,7 @@ on:
 
 jobs:
   colab:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     env:
         COLAB_ALWAYS_INSTALL_XVFB: 1
         QLEARNING_NUM_TRAINING_STEPS: 5
diff --git a/colab/Colab_UnityEnvironment_1_Run.ipynb b/colab/Colab_UnityEnvironment_1_Run.ipynb
index 471a598abf..e70dca7b8a 100644
--- a/colab/Colab_UnityEnvironment_1_Run.ipynb
+++ b/colab/Colab_UnityEnvironment_1_Run.ipynb
@@ -217,7 +217,7 @@
     "\n",
     "from mlagents_envs.registry import default_registry\n",
     "\n",
-    "env = default_registry[env_id].make(timeout_wait=120)"
+    "env = default_registry[env_id].make()"
    ],
    "execution_count": 3,
    "outputs": [
diff --git a/ml-agents/setup.py b/ml-agents/setup.py
index 2aec4e2cd6..16be25d8b3 100644
--- a/ml-agents/setup.py
+++ b/ml-agents/setup.py
@@ -62,7 +62,7 @@ def run(self):
         "Pillow>=4.2.1",
         "protobuf>=3.6,<3.21",
         "pyyaml>=3.1.0",
-        "torch>=2.1.1,<=2.8.0",
+        "torch>=2.1.1",
         "tensorboard>=2.14",
         # adding six explicit dependency since tensorboard needs it but doesn't declare it as a dep
         "six>=1.16",

From fc5fea4b82aaa1939cca20cb27eca0bdbe2e8d68 Mon Sep 17 00:00:00 2001
From: maryam-zia <maryam.zia@unity3d.com>
Date: Thu, 30 Oct 2025 17:24:23 -0400
Subject: [PATCH 06/26] Test

---
 .github/workflows/colab.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/colab.yml b/.github/workflows/colab.yml
index 7946adfd5d..7e26a39798 100644
--- a/.github/workflows/colab.yml
+++ b/.github/workflows/colab.yml
@@ -54,7 +54,7 @@ jobs:
         python -m pip install --progress-bar=off -e ./ml-agents
         python -m pip install --progress-bar=off -r colab_requirements.txt
     - name: Execute notebook
-      run: jupyter nbconvert --to notebook --execute --log-level=DEBUG --ExecutePreprocessor.kernel_name=python3 --output output-${{ matrix.notebook_path }} colab/${{ matrix.notebook_path }}
+      run: jupyter nbconvert --to notebook --execute --log-level=DEBUG --ExecutePreprocessor.kernel_name=python3 --ExecutePreprocessor.timeout=120 --output output-${{ matrix.notebook_path }} colab/${{ matrix.notebook_path }}
     - name: Upload colab results
       uses: actions/upload-artifact@v4
       with:

From f1c7d05d8bfa532bd76a69fba8b6a559e414ac88 Mon Sep 17 00:00:00 2001
From: maryam-zia <maryam.zia@unity3d.com>
Date: Thu, 30 Oct 2025 17:34:11 -0400
Subject: [PATCH 07/26] Change versions

---
 .github/workflows/colab.yml | 2 +-
 ml-agents/setup.py          | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/colab.yml b/.github/workflows/colab.yml
index 7e26a39798..f8b5af3d6d 100644
--- a/.github/workflows/colab.yml
+++ b/.github/workflows/colab.yml
@@ -16,7 +16,7 @@ on:
 
 jobs:
   colab:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
     env:
         COLAB_ALWAYS_INSTALL_XVFB: 1
         QLEARNING_NUM_TRAINING_STEPS: 5
diff --git a/ml-agents/setup.py b/ml-agents/setup.py
index 16be25d8b3..2aec4e2cd6 100644
--- a/ml-agents/setup.py
+++ b/ml-agents/setup.py
@@ -62,7 +62,7 @@ def run(self):
         "Pillow>=4.2.1",
         "protobuf>=3.6,<3.21",
         "pyyaml>=3.1.0",
-        "torch>=2.1.1",
+        "torch>=2.1.1,<=2.8.0",
         "tensorboard>=2.14",
         # adding six explicit dependency since tensorboard needs it but doesn't declare it as a dep
         "six>=1.16",

From d48d4a25f20c4e7708aa4271aca8f1ad991d54bc Mon Sep 17 00:00:00 2001
From: maryam-zia <maryam.zia@unity3d.com>
Date: Thu, 30 Oct 2025 17:49:21 -0400
Subject: [PATCH 08/26] Test

---
 colab/Colab_UnityEnvironment_1_Run.ipynb | 55 ++----------------------
 1 file changed, 3 insertions(+), 52 deletions(-)

diff --git a/colab/Colab_UnityEnvironment_1_Run.ipynb b/colab/Colab_UnityEnvironment_1_Run.ipynb
index e70dca7b8a..4db8560620 100644
--- a/colab/Colab_UnityEnvironment_1_Run.ipynb
+++ b/colab/Colab_UnityEnvironment_1_Run.ipynb
@@ -206,58 +206,9 @@
      "end_time": "2023-10-04T12:52:26.115543Z"
     }
    },
-   "source": [
-    "# -----------------\n",
-    "# This code is used to close an env that might not have been closed before\n",
-    "try:\n",
-    "  env.close()\n",
-    "except:\n",
-    "  pass\n",
-    "# -----------------\n",
-    "\n",
-    "from mlagents_envs.registry import default_registry\n",
-    "\n",
-    "env = default_registry[env_id].make()"
-   ],
-   "execution_count": 3,
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "[UnityMemory] Configuration Parameters - Can be set up in boot.config\n",
-      "    \"memorysetup-bucket-allocator-granularity=16\"\n",
-      "    \"memorysetup-bucket-allocator-bucket-count=8\"\n",
-      "    \"memorysetup-bucket-allocator-block-size=4194304\"\n",
-      "    \"memorysetup-bucket-allocator-block-count=1\"\n",
-      "    \"memorysetup-main-allocator-block-size=16777216\"\n",
-      "    \"memorysetup-thread-allocator-block-size=16777216\"\n",
-      "    \"memorysetup-gfx-main-allocator-block-size=16777216\"\n",
-      "    \"memorysetup-gfx-thread-allocator-block-size=16777216\"\n",
-      "    \"memorysetup-cache-allocator-block-size=4194304\"\n",
-      "    \"memorysetup-typetree-allocator-block-size=2097152\"\n",
-      "    \"memorysetup-profiler-bucket-allocator-granularity=16\"\n",
-      "    \"memorysetup-profiler-bucket-allocator-bucket-count=8\"\n",
-      "    \"memorysetup-profiler-bucket-allocator-block-size=4194304\"\n",
-      "    \"memorysetup-profiler-bucket-allocator-block-count=1\"\n",
-      "    \"memorysetup-profiler-allocator-block-size=16777216\"\n",
-      "    \"memorysetup-profiler-editor-allocator-block-size=1048576\"\n",
-      "    \"memorysetup-temp-allocator-size-main=4194304\"\n",
-      "    \"memorysetup-job-temp-allocator-block-size=2097152\"\n",
-      "    \"memorysetup-job-temp-allocator-block-size-background=1048576\"\n",
-      "    \"memorysetup-job-temp-allocator-reduction-small-platforms=262144\"\n",
-      "    \"memorysetup-allocator-temp-initial-block-size-main=262144\"\n",
-      "    \"memorysetup-allocator-temp-initial-block-size-worker=262144\"\n",
-      "    \"memorysetup-temp-allocator-size-background-worker=32768\"\n",
-      "    \"memorysetup-temp-allocator-size-job-worker=262144\"\n",
-      "    \"memorysetup-temp-allocator-size-preload-manager=262144\"\n",
-      "    \"memorysetup-temp-allocator-size-nav-mesh-worker=65536\"\n",
-      "    \"memorysetup-temp-allocator-size-audio-worker=65536\"\n",
-      "    \"memorysetup-temp-allocator-size-cloud-worker=32768\"\n",
-      "    \"memorysetup-temp-allocator-size-gfx=262144\"\n"
-     ]
-    }
-   ]
+   "source": "# -----------------\n# This code is used to close an env that might not have been closed before\ntry:\n  env.close()\nexcept:\n  pass\n# -----------------\n\nfrom mlagents_envs.registry import default_registry\n\nenv = default_registry[env_id].make(timeout_wait=120)",
+   "execution_count": null,
+   "outputs": []
   },
   {
    "cell_type": "markdown",

From bf39b06951a18a0937f3ab10cdcc13239c3d42c1 Mon Sep 17 00:00:00 2001
From: maryam-zia <maryam.zia@unity3d.com>
Date: Thu, 30 Oct 2025 17:57:00 -0400
Subject: [PATCH 09/26] Increase cell timeout

---
 .github/workflows/colab.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/colab.yml b/.github/workflows/colab.yml
index f8b5af3d6d..ad2c4a48f4 100644
--- a/.github/workflows/colab.yml
+++ b/.github/workflows/colab.yml
@@ -54,7 +54,7 @@ jobs:
         python -m pip install --progress-bar=off -e ./ml-agents
         python -m pip install --progress-bar=off -r colab_requirements.txt
     - name: Execute notebook
-      run: jupyter nbconvert --to notebook --execute --log-level=DEBUG --ExecutePreprocessor.kernel_name=python3 --ExecutePreprocessor.timeout=120 --output output-${{ matrix.notebook_path }} colab/${{ matrix.notebook_path }}
+      run: jupyter nbconvert --to notebook --execute --log-level=DEBUG --ExecutePreprocessor.kernel_name=python3 --ExecutePreprocessor.timeout=300 --output output-${{ matrix.notebook_path }} colab/${{ matrix.notebook_path }}
     - name: Upload colab results
       uses: actions/upload-artifact@v4
       with:

From 9bf77e4d03004e0220d7239739348a94f78bbf0e Mon Sep 17 00:00:00 2001
From: maryam-zia <maryam.zia@unity3d.com>
Date: Thu, 30 Oct 2025 18:06:56 -0400
Subject: [PATCH 10/26] Increase Unity timeout

---
 colab/Colab_UnityEnvironment_1_Run.ipynb | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/colab/Colab_UnityEnvironment_1_Run.ipynb b/colab/Colab_UnityEnvironment_1_Run.ipynb
index 4db8560620..3aa18bb4e7 100644
--- a/colab/Colab_UnityEnvironment_1_Run.ipynb
+++ b/colab/Colab_UnityEnvironment_1_Run.ipynb
@@ -206,7 +206,7 @@
      "end_time": "2023-10-04T12:52:26.115543Z"
     }
    },
-   "source": "# -----------------\n# This code is used to close an env that might not have been closed before\ntry:\n  env.close()\nexcept:\n  pass\n# -----------------\n\nfrom mlagents_envs.registry import default_registry\n\nenv = default_registry[env_id].make(timeout_wait=120)",
+   "source": "# -----------------\n# This code is used to close an env that might not have been closed before\ntry:\n  env.close()\nexcept:\n  pass\n# -----------------\n\nfrom mlagents_envs.registry import default_registry\n\nenv = default_registry[env_id].make(timeout_wait=180)",
    "execution_count": null,
    "outputs": []
   },

From 8a3cf12f198357341c87eaf91fdce66d89f326ec Mon Sep 17 00:00:00 2001
From: maryam-zia <maryam.zia@unity3d.com>
Date: Thu, 30 Oct 2025 18:16:52 -0400
Subject: [PATCH 11/26]  Set no_graphics to True

---
 colab/Colab_UnityEnvironment_1_Run.ipynb | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/colab/Colab_UnityEnvironment_1_Run.ipynb b/colab/Colab_UnityEnvironment_1_Run.ipynb
index 3aa18bb4e7..ec3aa10f01 100644
--- a/colab/Colab_UnityEnvironment_1_Run.ipynb
+++ b/colab/Colab_UnityEnvironment_1_Run.ipynb
@@ -206,7 +206,7 @@
      "end_time": "2023-10-04T12:52:26.115543Z"
     }
    },
-   "source": "# -----------------\n# This code is used to close an env that might not have been closed before\ntry:\n  env.close()\nexcept:\n  pass\n# -----------------\n\nfrom mlagents_envs.registry import default_registry\n\nenv = default_registry[env_id].make(timeout_wait=180)",
+   "source": "# -----------------\n# This code is used to close an env that might not have been closed before\ntry:\n  env.close()\nexcept:\n  pass\n# -----------------\n\nfrom mlagents_envs.registry import default_registry\n\nenv = default_registry[env_id].make( no_graphics=True)",
    "execution_count": null,
    "outputs": []
   },

From 3a83fef37dd7fea6cdb264545ef8a8abca9c294a Mon Sep 17 00:00:00 2001
From: maryam-zia <maryam.zia@unity3d.com>
Date: Thu, 30 Oct 2025 18:26:50 -0400
Subject: [PATCH 12/26] Clean

---
 .github/workflows/colab.yml              |  2 +-
 colab/Colab_UnityEnvironment_1_Run.ipynb | 55 ++++++++++++++++++++++--
 2 files changed, 53 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/colab.yml b/.github/workflows/colab.yml
index ad2c4a48f4..4ece61ca6a 100644
--- a/.github/workflows/colab.yml
+++ b/.github/workflows/colab.yml
@@ -54,7 +54,7 @@ jobs:
         python -m pip install --progress-bar=off -e ./ml-agents
         python -m pip install --progress-bar=off -r colab_requirements.txt
     - name: Execute notebook
-      run: jupyter nbconvert --to notebook --execute --log-level=DEBUG --ExecutePreprocessor.kernel_name=python3 --ExecutePreprocessor.timeout=300 --output output-${{ matrix.notebook_path }} colab/${{ matrix.notebook_path }}
+      run: jupyter nbconvert --to notebook --execute --log-level=DEBUG --ExecutePreprocessor.kernel_name=python3 --output output-${{ matrix.notebook_path }} colab/${{ matrix.notebook_path }}
     - name: Upload colab results
       uses: actions/upload-artifact@v4
       with:
diff --git a/colab/Colab_UnityEnvironment_1_Run.ipynb b/colab/Colab_UnityEnvironment_1_Run.ipynb
index ec3aa10f01..ded77696ad 100644
--- a/colab/Colab_UnityEnvironment_1_Run.ipynb
+++ b/colab/Colab_UnityEnvironment_1_Run.ipynb
@@ -206,9 +206,58 @@
      "end_time": "2023-10-04T12:52:26.115543Z"
     }
    },
-   "source": "# -----------------\n# This code is used to close an env that might not have been closed before\ntry:\n  env.close()\nexcept:\n  pass\n# -----------------\n\nfrom mlagents_envs.registry import default_registry\n\nenv = default_registry[env_id].make( no_graphics=True)",
-   "execution_count": null,
-   "outputs": []
+   "source": [
+       "# -----------------\n",
+       "# This code is used to close an env that might not have been closed before\n",
+       "try:\n",
+       "  env.close()\n",
+       "except:\n",
+       "  pass\n",
+       "# -----------------\n",
+       "\n",
+       "from mlagents_envs.registry import default_registry\n",
+       "\n",
+       "env = default_registry[env_id].make(no_graphics=True)"
+      ],
+      "execution_count": 3,
+      "outputs": [
+       {
+        "name": "stdout",
+        "output_type": "stream",
+        "text": [
+         "[UnityMemory] Configuration Parameters - Can be set up in boot.config\n",
+         "    \"memorysetup-bucket-allocator-granularity=16\"\n",
+         "    \"memorysetup-bucket-allocator-bucket-count=8\"\n",
+         "    \"memorysetup-bucket-allocator-block-size=4194304\"\n",
+         "    \"memorysetup-bucket-allocator-block-count=1\"\n",
+         "    \"memorysetup-main-allocator-block-size=16777216\"\n",
+         "    \"memorysetup-thread-allocator-block-size=16777216\"\n",
+         "    \"memorysetup-gfx-main-allocator-block-size=16777216\"\n",
+         "    \"memorysetup-gfx-thread-allocator-block-size=16777216\"\n",
+         "    \"memorysetup-cache-allocator-block-size=4194304\"\n",
+         "    \"memorysetup-typetree-allocator-block-size=2097152\"\n",
+         "    \"memorysetup-profiler-bucket-allocator-granularity=16\"\n",
+         "    \"memorysetup-profiler-bucket-allocator-bucket-count=8\"\n",
+         "    \"memorysetup-profiler-bucket-allocator-block-size=4194304\"\n",
+         "    \"memorysetup-profiler-bucket-allocator-block-count=1\"\n",
+         "    \"memorysetup-profiler-allocator-block-size=16777216\"\n",
+         "    \"memorysetup-profiler-editor-allocator-block-size=1048576\"\n",
+         "    \"memorysetup-temp-allocator-size-main=4194304\"\n",
+         "    \"memorysetup-job-temp-allocator-block-size=2097152\"\n",
+         "    \"memorysetup-job-temp-allocator-block-size-background=1048576\"\n",
+         "    \"memorysetup-job-temp-allocator-reduction-small-platforms=262144\"\n",
+         "    \"memorysetup-allocator-temp-initial-block-size-main=262144\"\n",
+         "    \"memorysetup-allocator-temp-initial-block-size-worker=262144\"\n",
+         "    \"memorysetup-temp-allocator-size-background-worker=32768\"\n",
+         "    \"memorysetup-temp-allocator-size-job-worker=262144\"\n",
+         "    \"memorysetup-temp-allocator-size-preload-manager=262144\"\n",
+         "    \"memorysetup-temp-allocator-size-nav-mesh-worker=65536\"\n",
+         "    \"memorysetup-temp-allocator-size-audio-worker=65536\"\n",
+         "    \"memorysetup-temp-allocator-size-cloud-worker=32768\"\n",
+         "    \"memorysetup-temp-allocator-size-gfx=262144\"\n"
+        ]
+       }
+      ]
   },
   {
    "cell_type": "markdown",

From 1ad3d438dde8ca503842c971bab6cca2f6aa6950 Mon Sep 17 00:00:00 2001
From: maryam-zia <maryam.zia@unity3d.com>
Date: Thu, 30 Oct 2025 18:28:56 -0400
Subject: [PATCH 13/26] Clean up

---
 colab/Colab_UnityEnvironment_1_Run.ipynb | 102 +++++++++++------------
 1 file changed, 51 insertions(+), 51 deletions(-)

diff --git a/colab/Colab_UnityEnvironment_1_Run.ipynb b/colab/Colab_UnityEnvironment_1_Run.ipynb
index ded77696ad..9ac80f920f 100644
--- a/colab/Colab_UnityEnvironment_1_Run.ipynb
+++ b/colab/Colab_UnityEnvironment_1_Run.ipynb
@@ -207,57 +207,57 @@
     }
    },
    "source": [
-       "# -----------------\n",
-       "# This code is used to close an env that might not have been closed before\n",
-       "try:\n",
-       "  env.close()\n",
-       "except:\n",
-       "  pass\n",
-       "# -----------------\n",
-       "\n",
-       "from mlagents_envs.registry import default_registry\n",
-       "\n",
-       "env = default_registry[env_id].make(no_graphics=True)"
-      ],
-      "execution_count": 3,
-      "outputs": [
-       {
-        "name": "stdout",
-        "output_type": "stream",
-        "text": [
-         "[UnityMemory] Configuration Parameters - Can be set up in boot.config\n",
-         "    \"memorysetup-bucket-allocator-granularity=16\"\n",
-         "    \"memorysetup-bucket-allocator-bucket-count=8\"\n",
-         "    \"memorysetup-bucket-allocator-block-size=4194304\"\n",
-         "    \"memorysetup-bucket-allocator-block-count=1\"\n",
-         "    \"memorysetup-main-allocator-block-size=16777216\"\n",
-         "    \"memorysetup-thread-allocator-block-size=16777216\"\n",
-         "    \"memorysetup-gfx-main-allocator-block-size=16777216\"\n",
-         "    \"memorysetup-gfx-thread-allocator-block-size=16777216\"\n",
-         "    \"memorysetup-cache-allocator-block-size=4194304\"\n",
-         "    \"memorysetup-typetree-allocator-block-size=2097152\"\n",
-         "    \"memorysetup-profiler-bucket-allocator-granularity=16\"\n",
-         "    \"memorysetup-profiler-bucket-allocator-bucket-count=8\"\n",
-         "    \"memorysetup-profiler-bucket-allocator-block-size=4194304\"\n",
-         "    \"memorysetup-profiler-bucket-allocator-block-count=1\"\n",
-         "    \"memorysetup-profiler-allocator-block-size=16777216\"\n",
-         "    \"memorysetup-profiler-editor-allocator-block-size=1048576\"\n",
-         "    \"memorysetup-temp-allocator-size-main=4194304\"\n",
-         "    \"memorysetup-job-temp-allocator-block-size=2097152\"\n",
-         "    \"memorysetup-job-temp-allocator-block-size-background=1048576\"\n",
-         "    \"memorysetup-job-temp-allocator-reduction-small-platforms=262144\"\n",
-         "    \"memorysetup-allocator-temp-initial-block-size-main=262144\"\n",
-         "    \"memorysetup-allocator-temp-initial-block-size-worker=262144\"\n",
-         "    \"memorysetup-temp-allocator-size-background-worker=32768\"\n",
-         "    \"memorysetup-temp-allocator-size-job-worker=262144\"\n",
-         "    \"memorysetup-temp-allocator-size-preload-manager=262144\"\n",
-         "    \"memorysetup-temp-allocator-size-nav-mesh-worker=65536\"\n",
-         "    \"memorysetup-temp-allocator-size-audio-worker=65536\"\n",
-         "    \"memorysetup-temp-allocator-size-cloud-worker=32768\"\n",
-         "    \"memorysetup-temp-allocator-size-gfx=262144\"\n"
-        ]
-       }
-      ]
+    "# -----------------\n",
+    "# This code is used to close an env that might not have been closed before\n",
+    "try:\n",
+    "  env.close()\n",
+    "except:\n",
+    "  pass\n",
+    "# -----------------\n",
+    "\n",
+    "from mlagents_envs.registry import default_registry\n",
+    "\n",
+    "env = default_registry[env_id].make(no_graphics=True)"
+   ],
+   "execution_count": 3,
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "[UnityMemory] Configuration Parameters - Can be set up in boot.config\n",
+      "    \"memorysetup-bucket-allocator-granularity=16\"\n",
+      "    \"memorysetup-bucket-allocator-bucket-count=8\"\n",
+      "    \"memorysetup-bucket-allocator-block-size=4194304\"\n",
+      "    \"memorysetup-bucket-allocator-block-count=1\"\n",
+      "    \"memorysetup-main-allocator-block-size=16777216\"\n",
+      "    \"memorysetup-thread-allocator-block-size=16777216\"\n",
+      "    \"memorysetup-gfx-main-allocator-block-size=16777216\"\n",
+      "    \"memorysetup-gfx-thread-allocator-block-size=16777216\"\n",
+      "    \"memorysetup-cache-allocator-block-size=4194304\"\n",
+      "    \"memorysetup-typetree-allocator-block-size=2097152\"\n",
+      "    \"memorysetup-profiler-bucket-allocator-granularity=16\"\n",
+      "    \"memorysetup-profiler-bucket-allocator-bucket-count=8\"\n",
+      "    \"memorysetup-profiler-bucket-allocator-block-size=4194304\"\n",
+      "    \"memorysetup-profiler-bucket-allocator-block-count=1\"\n",
+      "    \"memorysetup-profiler-allocator-block-size=16777216\"\n",
+      "    \"memorysetup-profiler-editor-allocator-block-size=1048576\"\n",
+      "    \"memorysetup-temp-allocator-size-main=4194304\"\n",
+      "    \"memorysetup-job-temp-allocator-block-size=2097152\"\n",
+      "    \"memorysetup-job-temp-allocator-block-size-background=1048576\"\n",
+      "    \"memorysetup-job-temp-allocator-reduction-small-platforms=262144\"\n",
+      "    \"memorysetup-allocator-temp-initial-block-size-main=262144\"\n",
+      "    \"memorysetup-allocator-temp-initial-block-size-worker=262144\"\n",
+      "    \"memorysetup-temp-allocator-size-background-worker=32768\"\n",
+      "    \"memorysetup-temp-allocator-size-job-worker=262144\"\n",
+      "    \"memorysetup-temp-allocator-size-preload-manager=262144\"\n",
+      "    \"memorysetup-temp-allocator-size-nav-mesh-worker=65536\"\n",
+      "    \"memorysetup-temp-allocator-size-audio-worker=65536\"\n",
+      "    \"memorysetup-temp-allocator-size-cloud-worker=32768\"\n",
+      "    \"memorysetup-temp-allocator-size-gfx=262144\"\n"
+     ]
+    }
+   ]
   },
   {
    "cell_type": "markdown",

From 4c2ffb64111cdef9ac6598c0f771cfe36c11c171 Mon Sep 17 00:00:00 2001
From: maryam-zia <maryam.zia@unity3d.com>
Date: Thu, 4 Dec 2025 15:52:11 -0500
Subject: [PATCH 14/26] Update MLA version

---
 com.unity.ml-agents/CHANGELOG.md       | 3 ++-
 com.unity.ml-agents/Runtime/Academy.cs | 2 +-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/com.unity.ml-agents/CHANGELOG.md b/com.unity.ml-agents/CHANGELOG.md
index d0b4d9dd15..ee971215da 100755
--- a/com.unity.ml-agents/CHANGELOG.md
+++ b/com.unity.ml-agents/CHANGELOG.md
@@ -6,9 +6,10 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/)
 and this project adheres to
 [Semantic Versioning](http://semver.org/spec/v2.0.0.html).
 
-## [Unreleased]
+## [4.0.1] - 2025-12-04
 ### Minor Changes
 #### com.unity.ml-agents (C#)
+- Upgraded to Inference Engine 2.4.1 (#)
 - Fixed tensor indexing to use correct CHW layout (#6239)
 - Updated the installation doc (#6242)
 
diff --git a/com.unity.ml-agents/Runtime/Academy.cs b/com.unity.ml-agents/Runtime/Academy.cs
index 3cdc15f64c..612caa8352 100644
--- a/com.unity.ml-agents/Runtime/Academy.cs
+++ b/com.unity.ml-agents/Runtime/Academy.cs
@@ -107,7 +107,7 @@ public class Academy : IDisposable
         /// Unity package version of com.unity.ml-agents.
         /// This must match the version string in package.json and is checked in a unit test.
         /// </summary>
-        internal const string k_PackageVersion = "4.0.0";
+        internal const string k_PackageVersion = "4.0.1";
 
         const int k_EditorTrainingPort = 5004;
 

From 732ff2c505bbe45381a85a312e8dcd6bdc06184a Mon Sep 17 00:00:00 2001
From: maryam-zia <maryam.zia@unity3d.com>
Date: Thu, 4 Dec 2025 16:17:00 -0500
Subject: [PATCH 15/26] Update Changelog

---
 com.unity.ml-agents/CHANGELOG.md | 1 -
 1 file changed, 1 deletion(-)

diff --git a/com.unity.ml-agents/CHANGELOG.md b/com.unity.ml-agents/CHANGELOG.md
index ee971215da..8e17cc71f0 100755
--- a/com.unity.ml-agents/CHANGELOG.md
+++ b/com.unity.ml-agents/CHANGELOG.md
@@ -9,7 +9,6 @@ and this project adheres to
 ## [4.0.1] - 2025-12-04
 ### Minor Changes
 #### com.unity.ml-agents (C#)
-- Upgraded to Inference Engine 2.4.1 (#)
 - Fixed tensor indexing to use correct CHW layout (#6239)
 - Updated the installation doc (#6242)
 

From 7937a913edcc74e243cad4b940bec1a4efa4ade0 Mon Sep 17 00:00:00 2001
From: maryam-zia <maryam.zia@unity3d.com>
Date: Thu, 4 Dec 2025 16:38:00 -0500
Subject: [PATCH 16/26] Add CONTRIBUTING.md to the doc

---
 .../Documentation~/Reference-Support.md          | 16 +++++++++-------
 1 file changed, 9 insertions(+), 7 deletions(-)

diff --git a/com.unity.ml-agents/Documentation~/Reference-Support.md b/com.unity.ml-agents/Documentation~/Reference-Support.md
index 922e65c79d..7bc6fa7b19 100644
--- a/com.unity.ml-agents/Documentation~/Reference-Support.md
+++ b/com.unity.ml-agents/Documentation~/Reference-Support.md
@@ -3,10 +3,12 @@
 The Reference & Support section contains essential documentation for ongoing ML-Agents development.
 
 
-| **Resource**                         | **Description**                                              |
-|--------------------------------------|--------------------------------------------------------------|
-| [FAQ](FAQ.md)                        | Frequently asked questions and common issues with solutions. |
-| [Limitations](Limitations.md)        | Known limitations and constraints of the ML-Agents Toolkit.  |
-| [Migrating](Migrating.md)            | Migration guides for updating between ML-Agents versions.    |
-| [Versioning](Versioning.md)          | Information about ML-Agents versioning and release notes.    |
-| [ML-Agents Glossary](Glossary.md)    | Glossary of terms and concepts used in ML-Agents.            |
+| **Resource**                               | **Description**                                              |
+|--------------------------------------------|--------------------------------------------------------------|
+| [FAQ](FAQ.md)                              | Frequently asked questions and common issues with solutions. |
+| [Limitations](Limitations.md)              | Known limitations and constraints of the ML-Agents Toolkit.  |
+| [Migrating](Migrating.md)                  | Migration guides for updating between ML-Agents versions.    |
+| [Versioning](Versioning.md)                | Information about ML-Agents versioning and release notes.    |
+| [ML-Agents Glossary](Glossary.md)          | Glossary of terms and concepts used in ML-Agents.            |
+| [Contribution guidelines](CONTRIBUTING.md) | How to Contribute to ML-Agents.                              |
+

From 52b6a22089e12e6b8150d6fcfefe82298db2a487 Mon Sep 17 00:00:00 2001
From: maryam-zia <maryam.zia@unity3d.com>
Date: Thu, 4 Dec 2025 16:39:01 -0500
Subject: [PATCH 17/26] Remove extra line

---
 com.unity.ml-agents/Documentation~/Reference-Support.md | 1 -
 1 file changed, 1 deletion(-)

diff --git a/com.unity.ml-agents/Documentation~/Reference-Support.md b/com.unity.ml-agents/Documentation~/Reference-Support.md
index 7bc6fa7b19..8c891229f9 100644
--- a/com.unity.ml-agents/Documentation~/Reference-Support.md
+++ b/com.unity.ml-agents/Documentation~/Reference-Support.md
@@ -11,4 +11,3 @@ The Reference & Support section contains essential documentation for ongoing ML-
 | [Versioning](Versioning.md)                | Information about ML-Agents versioning and release notes.    |
 | [ML-Agents Glossary](Glossary.md)          | Glossary of terms and concepts used in ML-Agents.            |
 | [Contribution guidelines](CONTRIBUTING.md) | How to Contribute to ML-Agents.                              |
-

From f9ffd6733b33f022a68e292177526eaf9b71e73e Mon Sep 17 00:00:00 2001
From: Bob Donovan <bobdonov@gmail.com>
Date: Wed, 10 Dec 2025 15:13:29 -0500
Subject: [PATCH 18/26] Fixing crash when Editor Application is quitting in
 Runtime Mode

Dispose was not called when editor was quitting resulting in a crash in the Job system when CPU Workers were disposed in finalizers by the garbage collector on the wrong thread.
---
 com.unity.ml-agents/Runtime/Academy.cs | 1 +
 1 file changed, 1 insertion(+)

diff --git a/com.unity.ml-agents/Runtime/Academy.cs b/com.unity.ml-agents/Runtime/Academy.cs
index 612caa8352..9957e91f43 100644
--- a/com.unity.ml-agents/Runtime/Academy.cs
+++ b/com.unity.ml-agents/Runtime/Academy.cs
@@ -261,6 +261,7 @@ protected Academy()
             LazyInitialize();
 
 #if UNITY_EDITOR
+            EditorApplication.quitting += Dispose;
             EditorApplication.playModeStateChanged += HandleOnPlayModeChanged;
 #endif
         }

From cc3981279bda3cdde8679a45247f6a58723c75d2 Mon Sep 17 00:00:00 2001
From: Bob Donovan <bobdonov@gmail.com>
Date: Thu, 11 Dec 2025 16:40:06 -0500
Subject: [PATCH 19/26] trunk test are unstable changing to 6.3

---
 .yamato/com.unity.ml-agents-test.yml | 2 +-
 .yamato/test_versions.metafile       | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.yamato/com.unity.ml-agents-test.yml b/.yamato/com.unity.ml-agents-test.yml
index 6a62b4b85c..dc0aeca828 100644
--- a/.yamato/com.unity.ml-agents-test.yml
+++ b/.yamato/com.unity.ml-agents-test.yml
@@ -8,7 +8,7 @@ test_editors:
       enableNoDefaultPackages: !!bool true
 
 trunk_editor:
-    - version: trunk
+    - version: 6000.4
       testProject: DevProject
 
 test_platforms:
diff --git a/.yamato/test_versions.metafile b/.yamato/test_versions.metafile
index abcec74931..2d4a1ee5d3 100644
--- a/.yamato/test_versions.metafile
+++ b/.yamato/test_versions.metafile
@@ -7,5 +7,5 @@ test_editors:
     extra_test: gym
   - version: 6000.0
     extra_test: sensor
-  - version: trunk
+  - version: 6000.3
     extra_test: llapi

From 419c11beba695301c1323453ff76a8b1e8a42e0a Mon Sep 17 00:00:00 2001
From: Bob Donovan <bobdonov@gmail.com>
Date: Wed, 10 Dec 2025 15:27:23 -0500
Subject: [PATCH 20/26] Adding entry in change log

---
 com.unity.ml-agents/CHANGELOG.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/com.unity.ml-agents/CHANGELOG.md b/com.unity.ml-agents/CHANGELOG.md
index 8e17cc71f0..a2b7b7d1fb 100755
--- a/com.unity.ml-agents/CHANGELOG.md
+++ b/com.unity.ml-agents/CHANGELOG.md
@@ -11,6 +11,7 @@ and this project adheres to
 #### com.unity.ml-agents (C#)
 - Fixed tensor indexing to use correct CHW layout (#6239)
 - Updated the installation doc (#6242)
+- Fixed Unity Editor crashing when quitting in play mode (#6267)
 
 #### ml-agents / ml-agents-envs
 - Set the Torch version constraint to 2.8 (#6251)

From 19e8d47f51979ae866f33d402b765b1d6c4edbcc Mon Sep 17 00:00:00 2001
From: Bob Donovan <bobdonov@gmail.com>
Date: Tue, 16 Dec 2025 13:22:53 -0500
Subject: [PATCH 21/26] Fixing Issue #6268

---
 ml-agents-envs/mlagents_envs/registry/unity_env_registry.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/ml-agents-envs/mlagents_envs/registry/unity_env_registry.py b/ml-agents-envs/mlagents_envs/registry/unity_env_registry.py
index 896c71ac94..0b281206e3 100644
--- a/ml-agents-envs/mlagents_envs/registry/unity_env_registry.py
+++ b/ml-agents-envs/mlagents_envs/registry/unity_env_registry.py
@@ -121,6 +121,6 @@ def __iter__(self) -> Iterator[Any]:
 
 default_registry = UnityEnvRegistry()
 # TODO restore when a new registry is available.
-default_registry.register_from_yaml(
-    "https://storage.googleapis.com/mlagents-test-environments/1.1.0/manifest.yaml"
-)  # noqa E501
+#default_registry.register_from_yaml(
+#    "https://storage.googleapis.com/mlagents-test-environments/1.1.0/manifest.yaml"
+#)  # noqa E501

From 08aacb2a7f364e30b14986cc462860c6128413a6 Mon Sep 17 00:00:00 2001
From: Bob Donovan <bobdonov@gmail.com>
Date: Tue, 16 Dec 2025 13:47:47 -0500
Subject: [PATCH 22/26] Fixing pre-commit

Fixing Pre-commit

Changing order of operations in pre-commit

Still fixing pre-commit stuff

Fixing python formatting with black

removing --no-restore flag
---
 .github/workflows/pre-commit.yml              |  15 +-
 .pre-commit-config.yaml                       |   3 +-
 CLAUDE.md                                     | 178 ++++++++++++++++++
 .../registry/unity_env_registry.py            |   4 +-
 4 files changed, 194 insertions(+), 6 deletions(-)
 create mode 100644 CLAUDE.md

diff --git a/.github/workflows/pre-commit.yml b/.github/workflows/pre-commit.yml
index d1422573e8..1a77b13354 100644
--- a/.github/workflows/pre-commit.yml
+++ b/.github/workflows/pre-commit.yml
@@ -13,7 +13,11 @@ jobs:
   pre-commit:
     runs-on: ubuntu-24.04
     env:
-        DOTNET_NOLOGO: 1
+      DOTNET_NOLOGO: 1
+      DOTNET_SKIP_FIRST_TIME_EXPERIENCE: "1"
+      DOTNET_CLI_HOME: "${{ github.workspace }}/.dotnet"
+      NUGET_PACKAGES: "${{ github.workspace }}/.nuget/packages"
+      TMPDIR: "${{ github.workspace }}/.tmp"
     steps:
     - uses: actions/checkout@v4
     - uses: actions/setup-python@v5
@@ -25,15 +29,20 @@ jobs:
       with:
         ruby-version: '2.7'
         bundler-cache: true # runs 'bundle install' and caches installed gems automatically
+    - name: Create writable dirs
+      run: |
+        mkdir -p "$DOTNET_CLI_HOME" "$NUGET_PACKAGES" "$TMPDIR"
     - uses: actions/setup-dotnet@v4
       with:
         dotnet-version: '8.0.202'
-    -   name: Clean dotnet shared memory
-        run: sudo rm -rf /tmp/.dotnet/shm
     - name: Install manual dependencies
       run: |
         python -m pip install pre-commit
         pre-commit install
+    - name: Pre-warm dotnet
+      run: |
+        dotnet --info
+        dotnet restore || true
     - name: Run pre-commit
       run: |
         pre-commit run --all-files
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 08a8e33e72..2ab764c102 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -94,7 +94,8 @@ repos:
     -   id: dotnet-format
         name: dotnet-format
         language: system
-        entry: dotnet format whitespace --folder --include
+        entry: dotnet format whitespace --folder --include . --verify-no-changes
+        pass_filenames: false
         types_or: ["c#"]
     -   id: markdown-link-check
         name: markdown-link-check
diff --git a/CLAUDE.md b/CLAUDE.md
new file mode 100644
index 0000000000..f4c88f2094
--- /dev/null
+++ b/CLAUDE.md
@@ -0,0 +1,178 @@
+# CLAUDE.md
+
+This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
+
+## Project Overview
+
+The Unity ML-Agents Toolkit is a sophisticated machine learning infrastructure project that bridges Unity game development (C#) with Python-based ML training. It enables games and simulations to serve as environments for training intelligent agents using reinforcement learning, imitation learning, and other ML techniques.
+
+This is a **monorepo** with multiple interconnected packages:
+- `com.unity.ml-agents/` - Unity Package (C# SDK)
+- `ml-agents/` - Python Trainer Package
+- `ml-agents-envs/` - Python Environment Interface
+- `ml-agents-trainer-plugin/` - Plugin framework
+- `protobuf-definitions/` - Communication protocol definitions
+- `config/` - Training configuration examples
+- `Project/` and `DevProject/` - Example Unity projects
+
+## Common Development Commands
+
+### Python Package Installation (Development Mode)
+```bash
+# Install packages in editable mode for development
+pip install -e ./ml-agents-envs
+pip install -e ./ml-agents
+pip install -e ./ml-agents-trainer-plugin
+pip install -e ./ml-agents-plugin-examples
+
+# Install test dependencies
+pip install -r test_requirements.txt
+```
+
+### Testing
+```bash
+# Run all tests except slow ones (default for development)
+pytest -m "not slow"
+
+# Run tests with parallel execution (8 workers)
+pytest -m "not slow" -n 8
+
+# Run tests with coverage reporting
+pytest --cov=ml-agents --cov=ml-agents-envs --cov-report html
+
+# Run slow tests (training-related, takes much longer)
+pytest -m slow
+
+# Run specific test file
+pytest ml-agents/mlagents/trainers/tests/test_buffer.py
+
+# Run specific test function
+pytest ml-agents/mlagents/trainers/tests/test_buffer.py::test_buffer_functionality
+```
+
+### Code Quality and Formatting
+```bash
+# Run pre-commit hooks on all files
+pre-commit run --all-files
+
+# Run specific hooks
+pre-commit run black --all-files
+pre-commit run mypy --all-files
+pre-commit run flake8 --all-files
+
+# Format C# code
+dotnet format whitespace --folder --include
+
+# Check markdown links (manual stage)
+pre-commit run --hook-stage manual markdown-link-check
+```
+
+### Training Commands
+```bash
+# Basic training command
+mlagents-learn config/ppo/3DBall.yaml --env=Project/3DBall --run-id=my_run
+
+# Training with curriculum learning
+mlagents-learn config/curricula/Wall.yaml --env=Project/WallJump --run-id=wall_curriculum
+
+# Resume training from checkpoint
+mlagents-learn config/ppo/3DBall.yaml --env=Project/3DBall --run-id=my_run --resume
+
+# Push trained model to Hugging Face
+mlagents-push-to-hf --run-id=my_run --repo-name=my-org/my-model
+```
+
+### Building and Unity Integration
+```bash
+# Unity Package Manager operations (from Unity Editor)
+# Window > Package Manager > + > Add package from git URL
+# https://github.com/Unity-Technologies/ml-agents.git?path=com.unity.ml-agents
+
+# Build Unity project (from Unity Editor or command line)
+Unity -batchmode -quit -projectPath ./Project -buildTarget StandaloneLinux64
+```
+
+## Architecture Overview
+
+### Communication Flow
+The system uses a **gRPC-based architecture**:
+```
+Unity Environment ←→ gRPC ←→ Python Trainer
+    (C# SDK)                    (PyTorch/ML)
+```
+
+### Key Components
+
+**Python Side:**
+- **Trainers** (`ml-agents/mlagents/trainers/`): Core ML algorithms (PPO, SAC, MA-POCA, GAIL, BC)
+- **Environment Interface** (`ml-agents-envs/`): Communication with Unity environments
+- **Plugin System**: Extensible trainer types and stats writers via entry points
+
+**Unity Side:**
+- **Agent** (`com.unity.ml-agents/Runtime/Agent.cs`): Base class for trainable agents
+- **Sensors**: Observation collection (vision, raycast, grid sensors)
+- **Actuators**: Action execution (continuous/discrete)
+- **Communicator**: gRPC communication layer
+
+### Multi-Package Structure
+
+The project uses **separate Python packages** with careful version management:
+- Packages can be installed independently
+- Version constraints are strictly managed (see `setup.py` files)
+- Plugin system uses entry points for extensibility
+
+## Development Workflow
+
+### Code Quality Standards
+- **Python**: Black formatting (120 char line length), mypy type checking, flake8 linting
+- **C#**: dotnet-format for whitespace formatting
+- **Testing**: pytest with 60% minimum coverage requirement
+- **Pre-commit hooks**: Enforced via `.pre-commit-config.yaml`
+
+### Important Constraints
+- **Python Version**: 3.10.1-3.10.12 only
+- **PyTorch**: ≤2.8.0 (strict constraint to prevent ONNX breaking changes)
+- **Unity**: 6000.0+ (Unity 6)
+- **Banned modules**: Direct tensorflow/torch imports (use utils instead)
+
+### Testing Strategy
+- **Parallel execution**: Tests run with 8 workers using pytest-xdist
+- **Port allocation**: Custom `base_port` fixture prevents port collisions
+- **Slow tests**: Training-related tests marked with `@pytest.mark.slow`
+- **Coverage**: HTML reports available via `--cov-report html`
+
+### Plugin Development
+Extend functionality via entry points in `setup.py`:
+```python
+entry_points={
+    ML_AGENTS_STATS_WRITER: ["custom_writer=my_package:MyStatsWriter"],
+    ML_AGENTS_TRAINER_TYPE: ["custom_trainer=my_package:MyTrainer"]
+}
+```
+
+## Key Files for Development
+
+**Configuration:**
+- `config/` - Training configuration YAML files for different algorithms
+- `.pre-commit-config.yaml` - Code quality enforcement
+- `pytest.ini`, `setup.cfg` - Test and coverage configuration
+
+**Architecture Entry Points:**
+- `ml-agents/mlagents/trainers/learn.py` - Main training script
+- `ml-agents-envs/mlagents_envs/environment.py` - Environment interface
+- `com.unity.ml-agents/Runtime/Agent.cs` - Unity agent base class
+
+**Documentation:**
+- Primary docs: [Unity Package Documentation](https://docs.unity3d.com/Packages/com.unity.ml-agents@latest)
+- Legacy docs: `docs/` directory (deprecated)
+
+## Release and Versioning
+
+- **Main branch**: `develop` (unstable development)
+- **Release branch pattern**: `release_XX`
+- **Version validation**: Pre-commit hooks ensure version consistency across packages
+- **Git tags**: Must match `__release_tag__` in `__init__.py` files
+
+## Port Management
+
+Tests use a **file-lock based port allocation system** (`conftest.py`) to enable parallel execution without port conflicts. Ports are dynamically allocated starting from a base port calculated per test file.
\ No newline at end of file
diff --git a/ml-agents-envs/mlagents_envs/registry/unity_env_registry.py b/ml-agents-envs/mlagents_envs/registry/unity_env_registry.py
index 0b281206e3..6542d2f441 100644
--- a/ml-agents-envs/mlagents_envs/registry/unity_env_registry.py
+++ b/ml-agents-envs/mlagents_envs/registry/unity_env_registry.py
@@ -121,6 +121,6 @@ def __iter__(self) -> Iterator[Any]:
 
 default_registry = UnityEnvRegistry()
 # TODO restore when a new registry is available.
-#default_registry.register_from_yaml(
+# default_registry.register_from_yaml(
 #    "https://storage.googleapis.com/mlagents-test-environments/1.1.0/manifest.yaml"
-#)  # noqa E501
+# )  # noqa E501

From 7d82fc12d7d007f060ab31e4ffbdb6ec7569db0c Mon Sep 17 00:00:00 2001
From: Bob Donovan <bobdonov@gmail.com>
Date: Wed, 17 Dec 2025 15:33:12 -0500
Subject: [PATCH 23/26] Bumping the version to 4.0.1

---
 com.unity.ml-agents/package.json | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/com.unity.ml-agents/package.json b/com.unity.ml-agents/package.json
index 394fd72689..7467cb4ac8 100755
--- a/com.unity.ml-agents/package.json
+++ b/com.unity.ml-agents/package.json
@@ -1,7 +1,7 @@
 {
   "name": "com.unity.ml-agents",
   "displayName": "ML Agents",
-  "version": "4.0.0",
+  "version": "4.0.1",
   "unity": "6000.0",
   "description": "Use state-of-the-art machine learning to create intelligent character behaviors in any Unity environment (games, robotics, film, etc.).",
   "dependencies": {

From 6dd8ba20460ed3afebefa23ea80e1833301a94af Mon Sep 17 00:00:00 2001
From: maryam-zia <maryam.zia@unity3d.com>
Date: Thu, 18 Dec 2025 16:10:42 -0500
Subject: [PATCH 24/26] Undo unnecessary changes.

---
 CLAUDE.md                                | 178 -----------
 colab/Colab_UnityEnvironment_1_Run.ipynb | 366 ++++++++++++-----------
 2 files changed, 184 insertions(+), 360 deletions(-)
 delete mode 100644 CLAUDE.md

diff --git a/CLAUDE.md b/CLAUDE.md
deleted file mode 100644
index f4c88f2094..0000000000
--- a/CLAUDE.md
+++ /dev/null
@@ -1,178 +0,0 @@
-# CLAUDE.md
-
-This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
-
-## Project Overview
-
-The Unity ML-Agents Toolkit is a sophisticated machine learning infrastructure project that bridges Unity game development (C#) with Python-based ML training. It enables games and simulations to serve as environments for training intelligent agents using reinforcement learning, imitation learning, and other ML techniques.
-
-This is a **monorepo** with multiple interconnected packages:
-- `com.unity.ml-agents/` - Unity Package (C# SDK)
-- `ml-agents/` - Python Trainer Package
-- `ml-agents-envs/` - Python Environment Interface
-- `ml-agents-trainer-plugin/` - Plugin framework
-- `protobuf-definitions/` - Communication protocol definitions
-- `config/` - Training configuration examples
-- `Project/` and `DevProject/` - Example Unity projects
-
-## Common Development Commands
-
-### Python Package Installation (Development Mode)
-```bash
-# Install packages in editable mode for development
-pip install -e ./ml-agents-envs
-pip install -e ./ml-agents
-pip install -e ./ml-agents-trainer-plugin
-pip install -e ./ml-agents-plugin-examples
-
-# Install test dependencies
-pip install -r test_requirements.txt
-```
-
-### Testing
-```bash
-# Run all tests except slow ones (default for development)
-pytest -m "not slow"
-
-# Run tests with parallel execution (8 workers)
-pytest -m "not slow" -n 8
-
-# Run tests with coverage reporting
-pytest --cov=ml-agents --cov=ml-agents-envs --cov-report html
-
-# Run slow tests (training-related, takes much longer)
-pytest -m slow
-
-# Run specific test file
-pytest ml-agents/mlagents/trainers/tests/test_buffer.py
-
-# Run specific test function
-pytest ml-agents/mlagents/trainers/tests/test_buffer.py::test_buffer_functionality
-```
-
-### Code Quality and Formatting
-```bash
-# Run pre-commit hooks on all files
-pre-commit run --all-files
-
-# Run specific hooks
-pre-commit run black --all-files
-pre-commit run mypy --all-files
-pre-commit run flake8 --all-files
-
-# Format C# code
-dotnet format whitespace --folder --include
-
-# Check markdown links (manual stage)
-pre-commit run --hook-stage manual markdown-link-check
-```
-
-### Training Commands
-```bash
-# Basic training command
-mlagents-learn config/ppo/3DBall.yaml --env=Project/3DBall --run-id=my_run
-
-# Training with curriculum learning
-mlagents-learn config/curricula/Wall.yaml --env=Project/WallJump --run-id=wall_curriculum
-
-# Resume training from checkpoint
-mlagents-learn config/ppo/3DBall.yaml --env=Project/3DBall --run-id=my_run --resume
-
-# Push trained model to Hugging Face
-mlagents-push-to-hf --run-id=my_run --repo-name=my-org/my-model
-```
-
-### Building and Unity Integration
-```bash
-# Unity Package Manager operations (from Unity Editor)
-# Window > Package Manager > + > Add package from git URL
-# https://github.com/Unity-Technologies/ml-agents.git?path=com.unity.ml-agents
-
-# Build Unity project (from Unity Editor or command line)
-Unity -batchmode -quit -projectPath ./Project -buildTarget StandaloneLinux64
-```
-
-## Architecture Overview
-
-### Communication Flow
-The system uses a **gRPC-based architecture**:
-```
-Unity Environment ←→ gRPC ←→ Python Trainer
-    (C# SDK)                    (PyTorch/ML)
-```
-
-### Key Components
-
-**Python Side:**
-- **Trainers** (`ml-agents/mlagents/trainers/`): Core ML algorithms (PPO, SAC, MA-POCA, GAIL, BC)
-- **Environment Interface** (`ml-agents-envs/`): Communication with Unity environments
-- **Plugin System**: Extensible trainer types and stats writers via entry points
-
-**Unity Side:**
-- **Agent** (`com.unity.ml-agents/Runtime/Agent.cs`): Base class for trainable agents
-- **Sensors**: Observation collection (vision, raycast, grid sensors)
-- **Actuators**: Action execution (continuous/discrete)
-- **Communicator**: gRPC communication layer
-
-### Multi-Package Structure
-
-The project uses **separate Python packages** with careful version management:
-- Packages can be installed independently
-- Version constraints are strictly managed (see `setup.py` files)
-- Plugin system uses entry points for extensibility
-
-## Development Workflow
-
-### Code Quality Standards
-- **Python**: Black formatting (120 char line length), mypy type checking, flake8 linting
-- **C#**: dotnet-format for whitespace formatting
-- **Testing**: pytest with 60% minimum coverage requirement
-- **Pre-commit hooks**: Enforced via `.pre-commit-config.yaml`
-
-### Important Constraints
-- **Python Version**: 3.10.1-3.10.12 only
-- **PyTorch**: ≤2.8.0 (strict constraint to prevent ONNX breaking changes)
-- **Unity**: 6000.0+ (Unity 6)
-- **Banned modules**: Direct tensorflow/torch imports (use utils instead)
-
-### Testing Strategy
-- **Parallel execution**: Tests run with 8 workers using pytest-xdist
-- **Port allocation**: Custom `base_port` fixture prevents port collisions
-- **Slow tests**: Training-related tests marked with `@pytest.mark.slow`
-- **Coverage**: HTML reports available via `--cov-report html`
-
-### Plugin Development
-Extend functionality via entry points in `setup.py`:
-```python
-entry_points={
-    ML_AGENTS_STATS_WRITER: ["custom_writer=my_package:MyStatsWriter"],
-    ML_AGENTS_TRAINER_TYPE: ["custom_trainer=my_package:MyTrainer"]
-}
-```
-
-## Key Files for Development
-
-**Configuration:**
-- `config/` - Training configuration YAML files for different algorithms
-- `.pre-commit-config.yaml` - Code quality enforcement
-- `pytest.ini`, `setup.cfg` - Test and coverage configuration
-
-**Architecture Entry Points:**
-- `ml-agents/mlagents/trainers/learn.py` - Main training script
-- `ml-agents-envs/mlagents_envs/environment.py` - Environment interface
-- `com.unity.ml-agents/Runtime/Agent.cs` - Unity agent base class
-
-**Documentation:**
-- Primary docs: [Unity Package Documentation](https://docs.unity3d.com/Packages/com.unity.ml-agents@latest)
-- Legacy docs: `docs/` directory (deprecated)
-
-## Release and Versioning
-
-- **Main branch**: `develop` (unstable development)
-- **Release branch pattern**: `release_XX`
-- **Version validation**: Pre-commit hooks ensure version consistency across packages
-- **Git tags**: Must match `__release_tag__` in `__init__.py` files
-
-## Port Management
-
-Tests use a **file-lock based port allocation system** (`conftest.py`) to enable parallel execution without port conflicts. Ports are dynamically allocated starting from a base port calculated per test file.
\ No newline at end of file
diff --git a/colab/Colab_UnityEnvironment_1_Run.ipynb b/colab/Colab_UnityEnvironment_1_Run.ipynb
index 9ac80f920f..cbb810138f 100644
--- a/colab/Colab_UnityEnvironment_1_Run.ipynb
+++ b/colab/Colab_UnityEnvironment_1_Run.ipynb
@@ -1,29 +1,4 @@
 {
- "nbformat": 4,
- "nbformat_minor": 0,
- "metadata": {
-  "colab": {
-   "name": "Colab-UnityEnvironment-1-Run.ipynb",
-   "private_outputs": true,
-   "provenance": [],
-   "collapsed_sections": [],
-   "toc_visible": true
-  },
-  "kernelspec": {
-   "name": "python3",
-   "language": "python",
-   "display_name": "Python 3"
-  },
-  "pycharm": {
-   "stem_cell": {
-    "cell_type": "raw",
-    "source": [],
-    "metadata": {
-     "collapsed": false
-    }
-   }
-  }
- },
  "cells": [
   {
    "cell_type": "markdown",
@@ -46,9 +21,11 @@
   },
   {
    "cell_type": "code",
+   "execution_count": null,
    "metadata": {
     "id": "htb-p1hSNX7D"
    },
+   "outputs": [],
    "source": [
     "#@title Install Rendering Dependencies { display-mode: \"form\" }\n",
     "#@markdown (You only need to run this code when using Colab's hosted runtime)\n",
@@ -122,9 +99,7 @@
     "  !bash frame-buffer start\n",
     "  os.environ[\"DISPLAY\"] = \":1\"\n",
     "pro_bar.update(progress(100, 100))"
-   ],
-   "execution_count": null,
-   "outputs": []
+   ]
   },
   {
    "cell_type": "markdown",
@@ -137,22 +112,14 @@
   },
   {
    "cell_type": "code",
+   "execution_count": 1,
    "metadata": {
-    "id": "N8yfQqkbebQ5",
     "ExecuteTime": {
-     "start_time": "2023-10-04T12:52:21.641839Z",
-     "end_time": "2023-10-04T12:52:21.642251Z"
-    }
+     "end_time": "2023-10-04T12:52:21.642251Z",
+     "start_time": "2023-10-04T12:52:21.641839Z"
+    },
+    "id": "N8yfQqkbebQ5"
    },
-   "source": [
-    "try:\n",
-    "  import mlagents\n",
-    "  print(\"ml-agents already installed\")\n",
-    "except ImportError:\n",
-    "  !python -m pip install -q mlagents==1.1.0\n",
-    "  print(\"Installed ml-agents\")"
-   ],
-   "execution_count": 1,
    "outputs": [
     {
      "name": "stdout",
@@ -161,6 +128,14 @@
       "ml-agents already installed\n"
      ]
     }
+   ],
+   "source": [
+    "try:\n",
+    "  import mlagents\n",
+    "  print(\"ml-agents already installed\")\n",
+    "except ImportError:\n",
+    "  !python -m pip install -q mlagents==1.1.0\n",
+    "  print(\"Installed ml-agents\")"
    ]
   },
   {
@@ -174,19 +149,19 @@
   },
   {
    "cell_type": "code",
+   "execution_count": 2,
    "metadata": {
-    "id": "DpZPbRvRuLZv",
     "ExecuteTime": {
-     "start_time": "2023-10-04T12:52:23.330185Z",
-     "end_time": "2023-10-04T12:52:23.339236Z"
-    }
+     "end_time": "2023-10-04T12:52:23.339236Z",
+     "start_time": "2023-10-04T12:52:23.330185Z"
+    },
+    "id": "DpZPbRvRuLZv"
    },
+   "outputs": [],
    "source": [
     "#@title Select Environment { display-mode: \"form\" }\n",
     "env_id = \"GridWorld\" #@param ['Basic', '3DBall', '3DBallHard', 'GridWorld', 'Hallway', 'VisualHallway', 'CrawlerDynamicTarget', 'CrawlerStaticTarget', 'Bouncer', 'SoccerTwos', 'PushBlock', 'VisualPushBlock', 'WallJump', 'Tennis', 'Reacher', 'Pyramids', 'VisualPyramids', 'Walker', 'FoodCollector', 'VisualFoodCollector', 'StrikersVsGoalie', 'WormStaticTarget', 'WormDynamicTarget']\n"
-   ],
-   "execution_count": 2,
-   "outputs": []
+   ]
   },
   {
    "cell_type": "markdown",
@@ -199,27 +174,14 @@
   },
   {
    "cell_type": "code",
+   "execution_count": 3,
    "metadata": {
-    "id": "YSf-WhxbqtLw",
     "ExecuteTime": {
-     "start_time": "2023-10-04T12:52:25.056933Z",
-     "end_time": "2023-10-04T12:52:26.115543Z"
-    }
+     "end_time": "2023-10-04T12:52:26.115543Z",
+     "start_time": "2023-10-04T12:52:25.056933Z"
+    },
+    "id": "YSf-WhxbqtLw"
    },
-   "source": [
-    "# -----------------\n",
-    "# This code is used to close an env that might not have been closed before\n",
-    "try:\n",
-    "  env.close()\n",
-    "except:\n",
-    "  pass\n",
-    "# -----------------\n",
-    "\n",
-    "from mlagents_envs.registry import default_registry\n",
-    "\n",
-    "env = default_registry[env_id].make(no_graphics=True)"
-   ],
-   "execution_count": 3,
    "outputs": [
     {
      "name": "stdout",
@@ -257,6 +219,19 @@
       "    \"memorysetup-temp-allocator-size-gfx=262144\"\n"
      ]
     }
+   ],
+   "source": [
+    "# -----------------\n",
+    "# This code is used to close an env that might not have been closed before\n",
+    "try:\n",
+    "  env.close()\n",
+    "except:\n",
+    "  pass\n",
+    "# -----------------\n",
+    "\n",
+    "from mlagents_envs.registry import default_registry\n",
+    "\n",
+    "env = default_registry[env_id].make()"
    ]
   },
   {
@@ -271,18 +246,18 @@
   },
   {
    "cell_type": "code",
+   "execution_count": 4,
    "metadata": {
-    "id": "dhtl0mpeqxYi",
     "ExecuteTime": {
-     "start_time": "2023-10-04T12:52:40.819560Z",
-     "end_time": "2023-10-04T12:52:41.038983Z"
-    }
+     "end_time": "2023-10-04T12:52:41.038983Z",
+     "start_time": "2023-10-04T12:52:40.819560Z"
+    },
+    "id": "dhtl0mpeqxYi"
    },
+   "outputs": [],
    "source": [
     "env.reset()"
-   ],
-   "execution_count": 4,
-   "outputs": []
+   ]
   },
   {
    "cell_type": "markdown",
@@ -304,20 +279,14 @@
   },
   {
    "cell_type": "code",
+   "execution_count": 5,
    "metadata": {
-    "id": "a7KatdThq7OV",
     "ExecuteTime": {
-     "start_time": "2023-10-04T12:52:47.812858Z",
-     "end_time": "2023-10-04T12:52:47.820527Z"
-    }
+     "end_time": "2023-10-04T12:52:47.820527Z",
+     "start_time": "2023-10-04T12:52:47.812858Z"
+    },
+    "id": "a7KatdThq7OV"
    },
-   "source": [
-    "# We will only consider the first Behavior\n",
-    "behavior_name = list(env.behavior_specs)[0]\n",
-    "print(f\"Name of the behavior : {behavior_name}\")\n",
-    "spec = env.behavior_specs[behavior_name]"
-   ],
-   "execution_count": 5,
    "outputs": [
     {
      "name": "stdout",
@@ -326,6 +295,12 @@
       "Name of the behavior : GridWorld?team=0\n"
      ]
     }
+   ],
+   "source": [
+    "# We will only consider the first Behavior\n",
+    "behavior_name = list(env.behavior_specs)[0]\n",
+    "print(f\"Name of the behavior : {behavior_name}\")\n",
+    "spec = env.behavior_specs[behavior_name]"
    ]
   },
   {
@@ -339,23 +314,14 @@
   },
   {
    "cell_type": "code",
+   "execution_count": 6,
    "metadata": {
-    "id": "PqDTV5mSrJF5",
     "ExecuteTime": {
-     "start_time": "2023-10-04T12:52:50.586284Z",
-     "end_time": "2023-10-04T12:52:50.596936Z"
-    }
+     "end_time": "2023-10-04T12:52:50.596936Z",
+     "start_time": "2023-10-04T12:52:50.586284Z"
+    },
+    "id": "PqDTV5mSrJF5"
    },
-   "source": [
-    "# Examine the number of observations per Agent\n",
-    "print(\"Number of observations : \", len(spec.observation_specs))\n",
-    "\n",
-    "# Is there a visual observation ?\n",
-    "# Visual observation have 3 dimensions: Height, Width and number of channels\n",
-    "vis_obs = any(len(spec.shape) == 3 for spec in spec.observation_specs)\n",
-    "print(\"Is there a visual observation ?\", vis_obs)"
-   ],
-   "execution_count": 6,
    "outputs": [
     {
      "name": "stdout",
@@ -365,6 +331,15 @@
       "Is there a visual observation ? True\n"
      ]
     }
+   ],
+   "source": [
+    "# Examine the number of observations per Agent\n",
+    "print(\"Number of observations : \", len(spec.observation_specs))\n",
+    "\n",
+    "# Is there a visual observation ?\n",
+    "# Visual observation have 3 dimensions: Height, Width and number of channels\n",
+    "vis_obs = any(len(spec.shape) == 3 for spec in spec.observation_specs)\n",
+    "print(\"Is there a visual observation ?\", vis_obs)"
    ]
   },
   {
@@ -378,13 +353,24 @@
   },
   {
    "cell_type": "code",
+   "execution_count": 7,
    "metadata": {
-    "id": "M9zk1-az1L-G",
     "ExecuteTime": {
-     "start_time": "2023-10-04T12:52:52.411887Z",
-     "end_time": "2023-10-04T12:52:52.456259Z"
-    }
+     "end_time": "2023-10-04T12:52:52.456259Z",
+     "start_time": "2023-10-04T12:52:52.411887Z"
+    },
+    "id": "M9zk1-az1L-G"
    },
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "There are 1 discrete actions\n",
+      "Action number 0 has 5 different options\n"
+     ]
+    }
+   ],
    "source": [
     "# Is the Action continuous or multi-discrete ?\n",
     "if spec.action_spec.continuous_size > 0:\n",
@@ -401,17 +387,6 @@
     "  for action, branch_size in enumerate(spec.action_spec.discrete_branches):\n",
     "    print(f\"Action number {action} has {branch_size} different options\")\n",
     "\n"
-   ],
-   "execution_count": 7,
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "There are 1 discrete actions\n",
-      "Action number 0 has 5 different options\n"
-     ]
-    }
    ]
   },
   {
@@ -436,18 +411,18 @@
   },
   {
    "cell_type": "code",
+   "execution_count": 8,
    "metadata": {
-    "id": "ePZtcHXUrjyf",
     "ExecuteTime": {
-     "start_time": "2023-10-04T12:52:55.105403Z",
-     "end_time": "2023-10-04T12:52:55.111994Z"
-    }
+     "end_time": "2023-10-04T12:52:55.111994Z",
+     "start_time": "2023-10-04T12:52:55.105403Z"
+    },
+    "id": "ePZtcHXUrjyf"
    },
+   "outputs": [],
    "source": [
     "decision_steps, terminal_steps = env.get_steps(behavior_name)"
-   ],
-   "execution_count": 8,
-   "outputs": []
+   ]
   },
   {
    "cell_type": "markdown",
@@ -461,18 +436,18 @@
   },
   {
    "cell_type": "code",
+   "execution_count": 9,
    "metadata": {
-    "id": "KB-nxfbw337g",
     "ExecuteTime": {
-     "start_time": "2023-10-04T12:52:56.360968Z",
-     "end_time": "2023-10-04T12:52:56.368561Z"
-    }
+     "end_time": "2023-10-04T12:52:56.368561Z",
+     "start_time": "2023-10-04T12:52:56.360968Z"
+    },
+    "id": "KB-nxfbw337g"
    },
+   "outputs": [],
    "source": [
     "env.set_actions(behavior_name, spec.action_spec.empty_action(len(decision_steps)))"
-   ],
-   "execution_count": 9,
-   "outputs": []
+   ]
   },
   {
    "cell_type": "markdown",
@@ -486,18 +461,18 @@
   },
   {
    "cell_type": "code",
+   "execution_count": 10,
    "metadata": {
-    "id": "nl3K40ZR4bh2",
     "ExecuteTime": {
-     "start_time": "2023-10-04T12:52:57.609971Z",
-     "end_time": "2023-10-04T12:52:57.664885Z"
-    }
+     "end_time": "2023-10-04T12:52:57.664885Z",
+     "start_time": "2023-10-04T12:52:57.609971Z"
+    },
+    "id": "nl3K40ZR4bh2"
    },
+   "outputs": [],
    "source": [
     "env.step()"
-   ],
-   "execution_count": 10,
-   "outputs": []
+   ]
   },
   {
    "cell_type": "markdown",
@@ -521,29 +496,14 @@
   },
   {
    "cell_type": "code",
+   "execution_count": 11,
    "metadata": {
-    "id": "OJpta61TsBiO",
     "ExecuteTime": {
-     "start_time": "2023-10-04T12:53:00.550680Z",
-     "end_time": "2023-10-04T12:53:00.862654Z"
-    }
+     "end_time": "2023-10-04T12:53:00.862654Z",
+     "start_time": "2023-10-04T12:53:00.550680Z"
+    },
+    "id": "OJpta61TsBiO"
    },
-   "source": [
-    "import matplotlib.pyplot as plt\n",
-    "import numpy as np\n",
-    "%matplotlib inline\n",
-    "\n",
-    "for index, obs_spec in enumerate(spec.observation_specs):\n",
-    "  if len(obs_spec.shape) == 3:\n",
-    "    print(\"Here is the first visual observation\")\n",
-    "    plt.imshow(np.moveaxis(decision_steps.obs[index][0, :, :, :], 0, -1))\n",
-    "    plt.show()\n",
-    "\n",
-    "for index, obs_spec in enumerate(spec.observation_specs):\n",
-    "  if len(obs_spec.shape) == 1:\n",
-    "    print(\"First vector observations : \", decision_steps.obs[index][0,:])"
-   ],
-   "execution_count": 11,
    "outputs": [
     {
      "name": "stdout",
@@ -554,8 +514,10 @@
     },
     {
      "data": {
-      "text/plain": "<Figure size 640x480 with 1 Axes>",
-      "image/png": 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"
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",
+      "text/plain": [
+       "<Figure size 640x480 with 1 Axes>"
+      ]
      },
      "metadata": {},
      "output_type": "display_data"
@@ -567,6 +529,21 @@
       "First vector observations :  [1. 0.]\n"
      ]
     }
+   ],
+   "source": [
+    "import matplotlib.pyplot as plt\n",
+    "import numpy as np\n",
+    "%matplotlib inline\n",
+    "\n",
+    "for index, obs_spec in enumerate(spec.observation_specs):\n",
+    "  if len(obs_spec.shape) == 3:\n",
+    "    print(\"Here is the first visual observation\")\n",
+    "    plt.imshow(np.moveaxis(decision_steps.obs[index][0, :, :, :], 0, -1))\n",
+    "    plt.show()\n",
+    "\n",
+    "for index, obs_spec in enumerate(spec.observation_specs):\n",
+    "  if len(obs_spec.shape) == 1:\n",
+    "    print(\"First vector observations : \", decision_steps.obs[index][0,:])"
    ]
   },
   {
@@ -580,13 +557,25 @@
   },
   {
    "cell_type": "code",
+   "execution_count": 12,
    "metadata": {
-    "id": "a2uQUsoMtIUK",
     "ExecuteTime": {
-     "start_time": "2023-10-04T12:53:02.785602Z",
-     "end_time": "2023-10-04T12:53:04.145406Z"
-    }
+     "end_time": "2023-10-04T12:53:04.145406Z",
+     "start_time": "2023-10-04T12:53:02.785602Z"
+    },
+    "id": "a2uQUsoMtIUK"
    },
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Total rewards for episode 0 is -1.1499999966472387\n",
+      "Total rewards for episode 1 is -1.5599999874830246\n",
+      "Total rewards for episode 2 is -1.049999998882413\n"
+     ]
+    }
+   ],
    "source": [
     "for episode in range(3):\n",
     "  env.reset()\n",
@@ -617,18 +606,6 @@
     "      episode_rewards += terminal_steps[tracked_agent].reward\n",
     "      done = True\n",
     "  print(f\"Total rewards for episode {episode} is {episode_rewards}\")\n"
-   ],
-   "execution_count": 12,
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Total rewards for episode 0 is -1.1499999966472387\n",
-      "Total rewards for episode 1 is -1.5599999874830246\n",
-      "Total rewards for episode 2 is -1.049999998882413\n"
-     ]
-    }
    ]
   },
   {
@@ -642,18 +619,14 @@
   },
   {
    "cell_type": "code",
+   "execution_count": 13,
    "metadata": {
-    "id": "vdWG6_SqtNtv",
     "ExecuteTime": {
-     "start_time": "2023-10-04T12:53:06.093669Z",
-     "end_time": "2023-10-04T12:53:06.416573Z"
-    }
+     "end_time": "2023-10-04T12:53:06.416573Z",
+     "start_time": "2023-10-04T12:53:06.093669Z"
+    },
+    "id": "vdWG6_SqtNtv"
    },
-   "source": [
-    "env.close()\n",
-    "print(\"Closed environment\")\n"
-   ],
-   "execution_count": 13,
    "outputs": [
     {
      "name": "stdout",
@@ -662,7 +635,36 @@
       "Closed environment\n"
      ]
     }
+   ],
+   "source": [
+    "env.close()\n",
+    "print(\"Closed environment\")\n"
    ]
   }
- ]
+ ],
+ "metadata": {
+  "colab": {
+   "collapsed_sections": [],
+   "name": "Colab-UnityEnvironment-1-Run.ipynb",
+   "private_outputs": true,
+   "provenance": [],
+   "toc_visible": true
+  },
+  "kernelspec": {
+   "display_name": "Python 3",
+   "language": "python",
+   "name": "python3"
+  },
+  "pycharm": {
+   "stem_cell": {
+    "cell_type": "raw",
+    "metadata": {
+     "collapsed": false
+    },
+    "source": []
+   }
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 0
 }

From d9d34f9904d965795a3d8d7aaec05120c44d0ae2 Mon Sep 17 00:00:00 2001
From: maryam-zia <maryam.zia@unity3d.com>
Date: Thu, 18 Dec 2025 16:13:12 -0500
Subject: [PATCH 25/26] Update colab

---
 colab/Colab_UnityEnvironment_1_Run.ipynb | 366 +++++++++++------------
 1 file changed, 182 insertions(+), 184 deletions(-)

diff --git a/colab/Colab_UnityEnvironment_1_Run.ipynb b/colab/Colab_UnityEnvironment_1_Run.ipynb
index cbb810138f..9ac80f920f 100644
--- a/colab/Colab_UnityEnvironment_1_Run.ipynb
+++ b/colab/Colab_UnityEnvironment_1_Run.ipynb
@@ -1,4 +1,29 @@
 {
+ "nbformat": 4,
+ "nbformat_minor": 0,
+ "metadata": {
+  "colab": {
+   "name": "Colab-UnityEnvironment-1-Run.ipynb",
+   "private_outputs": true,
+   "provenance": [],
+   "collapsed_sections": [],
+   "toc_visible": true
+  },
+  "kernelspec": {
+   "name": "python3",
+   "language": "python",
+   "display_name": "Python 3"
+  },
+  "pycharm": {
+   "stem_cell": {
+    "cell_type": "raw",
+    "source": [],
+    "metadata": {
+     "collapsed": false
+    }
+   }
+  }
+ },
  "cells": [
   {
    "cell_type": "markdown",
@@ -21,11 +46,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": null,
    "metadata": {
     "id": "htb-p1hSNX7D"
    },
-   "outputs": [],
    "source": [
     "#@title Install Rendering Dependencies { display-mode: \"form\" }\n",
     "#@markdown (You only need to run this code when using Colab's hosted runtime)\n",
@@ -99,7 +122,9 @@
     "  !bash frame-buffer start\n",
     "  os.environ[\"DISPLAY\"] = \":1\"\n",
     "pro_bar.update(progress(100, 100))"
-   ]
+   ],
+   "execution_count": null,
+   "outputs": []
   },
   {
    "cell_type": "markdown",
@@ -112,14 +137,22 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 1,
    "metadata": {
+    "id": "N8yfQqkbebQ5",
     "ExecuteTime": {
-     "end_time": "2023-10-04T12:52:21.642251Z",
-     "start_time": "2023-10-04T12:52:21.641839Z"
-    },
-    "id": "N8yfQqkbebQ5"
+     "start_time": "2023-10-04T12:52:21.641839Z",
+     "end_time": "2023-10-04T12:52:21.642251Z"
+    }
    },
+   "source": [
+    "try:\n",
+    "  import mlagents\n",
+    "  print(\"ml-agents already installed\")\n",
+    "except ImportError:\n",
+    "  !python -m pip install -q mlagents==1.1.0\n",
+    "  print(\"Installed ml-agents\")"
+   ],
+   "execution_count": 1,
    "outputs": [
     {
      "name": "stdout",
@@ -128,14 +161,6 @@
       "ml-agents already installed\n"
      ]
     }
-   ],
-   "source": [
-    "try:\n",
-    "  import mlagents\n",
-    "  print(\"ml-agents already installed\")\n",
-    "except ImportError:\n",
-    "  !python -m pip install -q mlagents==1.1.0\n",
-    "  print(\"Installed ml-agents\")"
    ]
   },
   {
@@ -149,19 +174,19 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 2,
    "metadata": {
+    "id": "DpZPbRvRuLZv",
     "ExecuteTime": {
-     "end_time": "2023-10-04T12:52:23.339236Z",
-     "start_time": "2023-10-04T12:52:23.330185Z"
-    },
-    "id": "DpZPbRvRuLZv"
+     "start_time": "2023-10-04T12:52:23.330185Z",
+     "end_time": "2023-10-04T12:52:23.339236Z"
+    }
    },
-   "outputs": [],
    "source": [
     "#@title Select Environment { display-mode: \"form\" }\n",
     "env_id = \"GridWorld\" #@param ['Basic', '3DBall', '3DBallHard', 'GridWorld', 'Hallway', 'VisualHallway', 'CrawlerDynamicTarget', 'CrawlerStaticTarget', 'Bouncer', 'SoccerTwos', 'PushBlock', 'VisualPushBlock', 'WallJump', 'Tennis', 'Reacher', 'Pyramids', 'VisualPyramids', 'Walker', 'FoodCollector', 'VisualFoodCollector', 'StrikersVsGoalie', 'WormStaticTarget', 'WormDynamicTarget']\n"
-   ]
+   ],
+   "execution_count": 2,
+   "outputs": []
   },
   {
    "cell_type": "markdown",
@@ -174,14 +199,27 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
    "metadata": {
+    "id": "YSf-WhxbqtLw",
     "ExecuteTime": {
-     "end_time": "2023-10-04T12:52:26.115543Z",
-     "start_time": "2023-10-04T12:52:25.056933Z"
-    },
-    "id": "YSf-WhxbqtLw"
+     "start_time": "2023-10-04T12:52:25.056933Z",
+     "end_time": "2023-10-04T12:52:26.115543Z"
+    }
    },
+   "source": [
+    "# -----------------\n",
+    "# This code is used to close an env that might not have been closed before\n",
+    "try:\n",
+    "  env.close()\n",
+    "except:\n",
+    "  pass\n",
+    "# -----------------\n",
+    "\n",
+    "from mlagents_envs.registry import default_registry\n",
+    "\n",
+    "env = default_registry[env_id].make(no_graphics=True)"
+   ],
+   "execution_count": 3,
    "outputs": [
     {
      "name": "stdout",
@@ -219,19 +257,6 @@
       "    \"memorysetup-temp-allocator-size-gfx=262144\"\n"
      ]
     }
-   ],
-   "source": [
-    "# -----------------\n",
-    "# This code is used to close an env that might not have been closed before\n",
-    "try:\n",
-    "  env.close()\n",
-    "except:\n",
-    "  pass\n",
-    "# -----------------\n",
-    "\n",
-    "from mlagents_envs.registry import default_registry\n",
-    "\n",
-    "env = default_registry[env_id].make()"
    ]
   },
   {
@@ -246,18 +271,18 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 4,
    "metadata": {
+    "id": "dhtl0mpeqxYi",
     "ExecuteTime": {
-     "end_time": "2023-10-04T12:52:41.038983Z",
-     "start_time": "2023-10-04T12:52:40.819560Z"
-    },
-    "id": "dhtl0mpeqxYi"
+     "start_time": "2023-10-04T12:52:40.819560Z",
+     "end_time": "2023-10-04T12:52:41.038983Z"
+    }
    },
-   "outputs": [],
    "source": [
     "env.reset()"
-   ]
+   ],
+   "execution_count": 4,
+   "outputs": []
   },
   {
    "cell_type": "markdown",
@@ -279,14 +304,20 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 5,
    "metadata": {
+    "id": "a7KatdThq7OV",
     "ExecuteTime": {
-     "end_time": "2023-10-04T12:52:47.820527Z",
-     "start_time": "2023-10-04T12:52:47.812858Z"
-    },
-    "id": "a7KatdThq7OV"
+     "start_time": "2023-10-04T12:52:47.812858Z",
+     "end_time": "2023-10-04T12:52:47.820527Z"
+    }
    },
+   "source": [
+    "# We will only consider the first Behavior\n",
+    "behavior_name = list(env.behavior_specs)[0]\n",
+    "print(f\"Name of the behavior : {behavior_name}\")\n",
+    "spec = env.behavior_specs[behavior_name]"
+   ],
+   "execution_count": 5,
    "outputs": [
     {
      "name": "stdout",
@@ -295,12 +326,6 @@
       "Name of the behavior : GridWorld?team=0\n"
      ]
     }
-   ],
-   "source": [
-    "# We will only consider the first Behavior\n",
-    "behavior_name = list(env.behavior_specs)[0]\n",
-    "print(f\"Name of the behavior : {behavior_name}\")\n",
-    "spec = env.behavior_specs[behavior_name]"
    ]
   },
   {
@@ -314,14 +339,23 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 6,
    "metadata": {
+    "id": "PqDTV5mSrJF5",
     "ExecuteTime": {
-     "end_time": "2023-10-04T12:52:50.596936Z",
-     "start_time": "2023-10-04T12:52:50.586284Z"
-    },
-    "id": "PqDTV5mSrJF5"
+     "start_time": "2023-10-04T12:52:50.586284Z",
+     "end_time": "2023-10-04T12:52:50.596936Z"
+    }
    },
+   "source": [
+    "# Examine the number of observations per Agent\n",
+    "print(\"Number of observations : \", len(spec.observation_specs))\n",
+    "\n",
+    "# Is there a visual observation ?\n",
+    "# Visual observation have 3 dimensions: Height, Width and number of channels\n",
+    "vis_obs = any(len(spec.shape) == 3 for spec in spec.observation_specs)\n",
+    "print(\"Is there a visual observation ?\", vis_obs)"
+   ],
+   "execution_count": 6,
    "outputs": [
     {
      "name": "stdout",
@@ -331,15 +365,6 @@
       "Is there a visual observation ? True\n"
      ]
     }
-   ],
-   "source": [
-    "# Examine the number of observations per Agent\n",
-    "print(\"Number of observations : \", len(spec.observation_specs))\n",
-    "\n",
-    "# Is there a visual observation ?\n",
-    "# Visual observation have 3 dimensions: Height, Width and number of channels\n",
-    "vis_obs = any(len(spec.shape) == 3 for spec in spec.observation_specs)\n",
-    "print(\"Is there a visual observation ?\", vis_obs)"
    ]
   },
   {
@@ -353,24 +378,13 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 7,
    "metadata": {
+    "id": "M9zk1-az1L-G",
     "ExecuteTime": {
-     "end_time": "2023-10-04T12:52:52.456259Z",
-     "start_time": "2023-10-04T12:52:52.411887Z"
-    },
-    "id": "M9zk1-az1L-G"
-   },
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "There are 1 discrete actions\n",
-      "Action number 0 has 5 different options\n"
-     ]
+     "start_time": "2023-10-04T12:52:52.411887Z",
+     "end_time": "2023-10-04T12:52:52.456259Z"
     }
-   ],
+   },
    "source": [
     "# Is the Action continuous or multi-discrete ?\n",
     "if spec.action_spec.continuous_size > 0:\n",
@@ -387,6 +401,17 @@
     "  for action, branch_size in enumerate(spec.action_spec.discrete_branches):\n",
     "    print(f\"Action number {action} has {branch_size} different options\")\n",
     "\n"
+   ],
+   "execution_count": 7,
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "There are 1 discrete actions\n",
+      "Action number 0 has 5 different options\n"
+     ]
+    }
    ]
   },
   {
@@ -411,18 +436,18 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 8,
    "metadata": {
+    "id": "ePZtcHXUrjyf",
     "ExecuteTime": {
-     "end_time": "2023-10-04T12:52:55.111994Z",
-     "start_time": "2023-10-04T12:52:55.105403Z"
-    },
-    "id": "ePZtcHXUrjyf"
+     "start_time": "2023-10-04T12:52:55.105403Z",
+     "end_time": "2023-10-04T12:52:55.111994Z"
+    }
    },
-   "outputs": [],
    "source": [
     "decision_steps, terminal_steps = env.get_steps(behavior_name)"
-   ]
+   ],
+   "execution_count": 8,
+   "outputs": []
   },
   {
    "cell_type": "markdown",
@@ -436,18 +461,18 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 9,
    "metadata": {
+    "id": "KB-nxfbw337g",
     "ExecuteTime": {
-     "end_time": "2023-10-04T12:52:56.368561Z",
-     "start_time": "2023-10-04T12:52:56.360968Z"
-    },
-    "id": "KB-nxfbw337g"
+     "start_time": "2023-10-04T12:52:56.360968Z",
+     "end_time": "2023-10-04T12:52:56.368561Z"
+    }
    },
-   "outputs": [],
    "source": [
     "env.set_actions(behavior_name, spec.action_spec.empty_action(len(decision_steps)))"
-   ]
+   ],
+   "execution_count": 9,
+   "outputs": []
   },
   {
    "cell_type": "markdown",
@@ -461,18 +486,18 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 10,
    "metadata": {
+    "id": "nl3K40ZR4bh2",
     "ExecuteTime": {
-     "end_time": "2023-10-04T12:52:57.664885Z",
-     "start_time": "2023-10-04T12:52:57.609971Z"
-    },
-    "id": "nl3K40ZR4bh2"
+     "start_time": "2023-10-04T12:52:57.609971Z",
+     "end_time": "2023-10-04T12:52:57.664885Z"
+    }
    },
-   "outputs": [],
    "source": [
     "env.step()"
-   ]
+   ],
+   "execution_count": 10,
+   "outputs": []
   },
   {
    "cell_type": "markdown",
@@ -496,14 +521,29 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 11,
    "metadata": {
+    "id": "OJpta61TsBiO",
     "ExecuteTime": {
-     "end_time": "2023-10-04T12:53:00.862654Z",
-     "start_time": "2023-10-04T12:53:00.550680Z"
-    },
-    "id": "OJpta61TsBiO"
+     "start_time": "2023-10-04T12:53:00.550680Z",
+     "end_time": "2023-10-04T12:53:00.862654Z"
+    }
    },
+   "source": [
+    "import matplotlib.pyplot as plt\n",
+    "import numpy as np\n",
+    "%matplotlib inline\n",
+    "\n",
+    "for index, obs_spec in enumerate(spec.observation_specs):\n",
+    "  if len(obs_spec.shape) == 3:\n",
+    "    print(\"Here is the first visual observation\")\n",
+    "    plt.imshow(np.moveaxis(decision_steps.obs[index][0, :, :, :], 0, -1))\n",
+    "    plt.show()\n",
+    "\n",
+    "for index, obs_spec in enumerate(spec.observation_specs):\n",
+    "  if len(obs_spec.shape) == 1:\n",
+    "    print(\"First vector observations : \", decision_steps.obs[index][0,:])"
+   ],
+   "execution_count": 11,
    "outputs": [
     {
      "name": "stdout",
@@ -514,10 +554,8 @@
     },
     {
      "data": {
-      "image/png": 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",
-      "text/plain": [
-       "<Figure size 640x480 with 1 Axes>"
-      ]
+      "text/plain": "<Figure size 640x480 with 1 Axes>",
+      "image/png": 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"
      },
      "metadata": {},
      "output_type": "display_data"
@@ -529,21 +567,6 @@
       "First vector observations :  [1. 0.]\n"
      ]
     }
-   ],
-   "source": [
-    "import matplotlib.pyplot as plt\n",
-    "import numpy as np\n",
-    "%matplotlib inline\n",
-    "\n",
-    "for index, obs_spec in enumerate(spec.observation_specs):\n",
-    "  if len(obs_spec.shape) == 3:\n",
-    "    print(\"Here is the first visual observation\")\n",
-    "    plt.imshow(np.moveaxis(decision_steps.obs[index][0, :, :, :], 0, -1))\n",
-    "    plt.show()\n",
-    "\n",
-    "for index, obs_spec in enumerate(spec.observation_specs):\n",
-    "  if len(obs_spec.shape) == 1:\n",
-    "    print(\"First vector observations : \", decision_steps.obs[index][0,:])"
    ]
   },
   {
@@ -557,25 +580,13 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 12,
    "metadata": {
+    "id": "a2uQUsoMtIUK",
     "ExecuteTime": {
-     "end_time": "2023-10-04T12:53:04.145406Z",
-     "start_time": "2023-10-04T12:53:02.785602Z"
-    },
-    "id": "a2uQUsoMtIUK"
-   },
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Total rewards for episode 0 is -1.1499999966472387\n",
-      "Total rewards for episode 1 is -1.5599999874830246\n",
-      "Total rewards for episode 2 is -1.049999998882413\n"
-     ]
+     "start_time": "2023-10-04T12:53:02.785602Z",
+     "end_time": "2023-10-04T12:53:04.145406Z"
     }
-   ],
+   },
    "source": [
     "for episode in range(3):\n",
     "  env.reset()\n",
@@ -606,6 +617,18 @@
     "      episode_rewards += terminal_steps[tracked_agent].reward\n",
     "      done = True\n",
     "  print(f\"Total rewards for episode {episode} is {episode_rewards}\")\n"
+   ],
+   "execution_count": 12,
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Total rewards for episode 0 is -1.1499999966472387\n",
+      "Total rewards for episode 1 is -1.5599999874830246\n",
+      "Total rewards for episode 2 is -1.049999998882413\n"
+     ]
+    }
    ]
   },
   {
@@ -619,14 +642,18 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 13,
    "metadata": {
+    "id": "vdWG6_SqtNtv",
     "ExecuteTime": {
-     "end_time": "2023-10-04T12:53:06.416573Z",
-     "start_time": "2023-10-04T12:53:06.093669Z"
-    },
-    "id": "vdWG6_SqtNtv"
+     "start_time": "2023-10-04T12:53:06.093669Z",
+     "end_time": "2023-10-04T12:53:06.416573Z"
+    }
    },
+   "source": [
+    "env.close()\n",
+    "print(\"Closed environment\")\n"
+   ],
+   "execution_count": 13,
    "outputs": [
     {
      "name": "stdout",
@@ -635,36 +662,7 @@
       "Closed environment\n"
      ]
     }
-   ],
-   "source": [
-    "env.close()\n",
-    "print(\"Closed environment\")\n"
    ]
   }
- ],
- "metadata": {
-  "colab": {
-   "collapsed_sections": [],
-   "name": "Colab-UnityEnvironment-1-Run.ipynb",
-   "private_outputs": true,
-   "provenance": [],
-   "toc_visible": true
-  },
-  "kernelspec": {
-   "display_name": "Python 3",
-   "language": "python",
-   "name": "python3"
-  },
-  "pycharm": {
-   "stem_cell": {
-    "cell_type": "raw",
-    "metadata": {
-     "collapsed": false
-    },
-    "source": []
-   }
-  }
- },
- "nbformat": 4,
- "nbformat_minor": 0
+ ]
 }

From 4a1166ff3d61e1f14f36153337c85da4a37f91c1 Mon Sep 17 00:00:00 2001
From: maryam-zia <maryam.zia@unity3d.com>
Date: Thu, 18 Dec 2025 16:17:26 -0500
Subject: [PATCH 26/26] Remove no_graphics

---
 colab/Colab_UnityEnvironment_1_Run.ipynb | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/colab/Colab_UnityEnvironment_1_Run.ipynb b/colab/Colab_UnityEnvironment_1_Run.ipynb
index 9ac80f920f..e70dca7b8a 100644
--- a/colab/Colab_UnityEnvironment_1_Run.ipynb
+++ b/colab/Colab_UnityEnvironment_1_Run.ipynb
@@ -217,7 +217,7 @@
     "\n",
     "from mlagents_envs.registry import default_registry\n",
     "\n",
-    "env = default_registry[env_id].make(no_graphics=True)"
+    "env = default_registry[env_id].make()"
    ],
    "execution_count": 3,
    "outputs": [