Unity-Technologies · maryamziaa · Jul 10, 2025 · Jul 11, 2025 · Jul 11, 2025 · Jul 11, 2025
diff --git a/DevProject/Packages/packages-lock.json b/DevProject/Packages/packages-lock.json
@@ -90,7 +90,7 @@
       "depth": 0,
       "source": "local",
       "dependencies": {
-        "com.unity.ml-agents": "3.0.0",
+        "com.unity.ml-agents": "4.0.0",
         "com.unity.modules.physics": "1.0.0"
       }
     },

diff --git a/Project/Packages/packages-lock.json b/Project/Packages/packages-lock.json
@@ -116,7 +116,7 @@
       "depth": 0,
       "source": "local",
       "dependencies": {
-        "com.unity.ml-agents": "3.0.0",
+        "com.unity.ml-agents": "4.0.0",
         "com.unity.modules.physics": "1.0.0"
       }
     },

diff --git a/colab/Colab_UnityEnvironment_1_Run.ipynb b/colab/Colab_UnityEnvironment_1_Run.ipynb
@@ -32,7 +32,7 @@
    },
    "source": [
     "# ML-Agents Open a UnityEnvironment\n",
-    "<img src=\"https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/docs/images/image-banner.png?raw=true\" align=\"middle\" width=\"435\"/>"
+    "<img src=\"https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/docs/images/image-banner.png?raw=true\" align=\"middle\" width=\"435\"/>"
    ]
   },
   {

diff --git a/colab/Colab_UnityEnvironment_2_Train.ipynb b/colab/Colab_UnityEnvironment_2_Train.ipynb
@@ -22,7 +22,7 @@
    },
    "source": [
     "# ML-Agents Q-Learning with GridWorld\n",
-    "<img src=\"https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/docs/images/gridworld.png?raw=true\" align=\"middle\" width=\"435\"/>"
+    "<img src=\"https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/docs/images/gridworld.png?raw=true\" align=\"middle\" width=\"435\"/>"
    ]
   },
   {
@@ -190,7 +190,7 @@
     "id": "pZhVRfdoyPmv"
    },
    "source": [
-    "The [GridWorld](https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/docs/Learning-Environment-Examples.md#gridworld) Environment is a simple Unity visual environment. The Agent is a blue square in a 3x3 grid that is trying to reach a green __`+`__ while avoiding a red __`x`__.\n",
+    "The [GridWorld](https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/docs/Learning-Environment-Examples.md#gridworld) Environment is a simple Unity visual environment. The Agent is a blue square in a 3x3 grid that is trying to reach a green __`+`__ while avoiding a red __`x`__.\n",
     "\n",
     "The observation is an image obtained by a camera on top of the grid.\n",
     "\n",

diff --git a/colab/Colab_UnityEnvironment_3_SideChannel.ipynb b/colab/Colab_UnityEnvironment_3_SideChannel.ipynb
@@ -23,7 +23,7 @@
    },
    "source": [
     "# ML-Agents Use SideChannels\n",
-    "<img src=\"https://raw.githubusercontent.com/Unity-Technologies/ml-agents/release_22_docs/docs/images/3dball_big.png\" align=\"middle\" width=\"435\"/>"
+    "<img src=\"https://raw.githubusercontent.com/Unity-Technologies/ml-agents/release_23_docs/docs/images/3dball_big.png\" align=\"middle\" width=\"435\"/>"
    ]
   },
   {
@@ -176,7 +176,7 @@
     "## Side Channel\n",
     "\n",
     "SideChannels are objects that can be passed to the constructor of a UnityEnvironment or the `make()` method of a registry entry to send non Reinforcement Learning related data.\n",
-    "More information available [here](https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/docs/Python-API.md#communicating-additional-information-with-the-environment)\n",
+    "More information available [here](https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/docs/Python-API.md#communicating-additional-information-with-the-environment)\n",
     "\n",
     "\n",
     "\n"
@@ -189,7 +189,7 @@
    },
    "source": [
     "### Engine Configuration SideChannel\n",
-    "The [Engine Configuration Side Channel](https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/docs/Python-API.md#engineconfigurationchannel) is used to configure how the Unity Engine should run.\n",
+    "The [Engine Configuration Side Channel](https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/docs/Python-API.md#engineconfigurationchannel) is used to configure how the Unity Engine should run.\n",
     "We will use the GridWorld environment to demonstrate how to use the EngineConfigurationChannel."
    ]
   },
@@ -282,7 +282,7 @@
    },
    "source": [
     "### Environment Parameters Channel\n",
-    "The [Environment Parameters Side Channel](https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/docs/Python-API.md#environmentparameters) is used to modify environment parameters during the simulation.\n",
+    "The [Environment Parameters Side Channel](https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/docs/Python-API.md#environmentparameters) is used to modify environment parameters during the simulation.\n",
     "We will use the GridWorld environment to demonstrate how to use the EngineConfigurationChannel."
    ]
   },
@@ -419,7 +419,7 @@
    },
    "source": [
     "### Creating your own Side Channels\n",
-    "You can send various kinds of data between a Unity Environment and Python but you will need to [create your own implementation of a Side Channel](https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/docs/Custom-SideChannels.md#custom-side-channels) for advanced use cases.\n"
+    "You can send various kinds of data between a Unity Environment and Python but you will need to [create your own implementation of a Side Channel](https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/docs/Custom-SideChannels.md#custom-side-channels) for advanced use cases.\n"
    ]
   },
   {

diff --git a/colab/Colab_UnityEnvironment_4_SB3VectorEnv.ipynb b/colab/Colab_UnityEnvironment_4_SB3VectorEnv.ipynb
@@ -7,7 +7,7 @@
    },
    "source": [
     "# ML-Agents run with Stable Baselines 3\n",
-    "<img src=\"https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/docs/images/image-banner.png?raw=true\" align=\"middle\" width=\"435\"/>"
+    "<img src=\"https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/docs/images/image-banner.png?raw=true\" align=\"middle\" width=\"435\"/>"
    ]
   },
   {

diff --git a/com.unity.ml-agents.extensions/Documentation~/com.unity.ml-agents.extensions.md b/com.unity.ml-agents.extensions/Documentation~/com.unity.ml-agents.extensions.md
@@ -28,24 +28,24 @@ The ML-Agents Extensions package is not currently available in the Package Manag
 recommended ways to install the package:
 
 ### Local Installation
-[Clone the repository](https://github.com/Unity-Technologies/ml-agents/tree/release_22_docs/docs/Installation.md#clone-the-ml-agents-toolkit-repository-optional) and follow the
-[Local Installation for Development](https://github.com/Unity-Technologies/ml-agents/tree/release_22_docs/docs/Installation.md#advanced-local-installation-for-development-1)
+[Clone the repository](https://github.com/Unity-Technologies/ml-agents/tree/release_23_docs/docs/Installation.md#clone-the-ml-agents-toolkit-repository-optional) and follow the
+[Local Installation for Development](https://github.com/Unity-Technologies/ml-agents/tree/release_23_docs/docs/Installation.md#advanced-local-installation-for-development-1)
 directions (substituting `com.unity.ml-agents.extensions` for the package name).
 
 ### Github via Package Manager
 In Unity 2019.4 or later, open the Package Manager, hit the "+" button, and select "Add package from git URL".
 
-![Package Manager git URL](https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/docs/images/unity_package_manager_git_url.png)
+![Package Manager git URL](https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/docs/images/unity_package_manager_git_url.png)
 
 In the dialog that appears, enter
  ```
-git+https://github.com/Unity-Technologies/ml-agents.git?path=com.unity.ml-agents.extensions#release_22
+git+https://github.com/Unity-Technologies/ml-agents.git?path=com.unity.ml-agents.extensions#release_23
 ```
 
 You can also edit your project's `manifest.json` directly and add the following line to the `dependencies`
 section:
 ```
-"com.unity.ml-agents.extensions": "git+https://github.com/Unity-Technologies/ml-agents.git?path=com.unity.ml-agents.extensions#release_22",
+"com.unity.ml-agents.extensions": "git+https://github.com/Unity-Technologies/ml-agents.git?path=com.unity.ml-agents.extensions#release_23",
 ```
 See [Git dependencies](https://docs.unity3d.com/Manual/upm-git.html#subfolder) for more information. Note that this
 may take several minutes to resolve the packages the first time that you add it.
@@ -67,4 +67,4 @@ If using the `InputActuatorComponent`
     - No way to customize the action space of the `InputActuatorComponent`
 
 ## Need Help?
-The main [README](https://github.com/Unity-Technologies/ml-agents/tree/release_22_docs/README.md) contains links for contacting the team or getting support.
+The main [README](https://github.com/Unity-Technologies/ml-agents/tree/release_23_docs/README.md) contains links for contacting the team or getting support.
diff --git a/com.unity.ml-agents.extensions/package.json b/com.unity.ml-agents.extensions/package.json
@@ -5,7 +5,7 @@
   "unity": "6000.0",
   "description": "A source-only package for new features based on ML-Agents",
   "dependencies": {
-    "com.unity.ml-agents": "3.0.0",
+    "com.unity.ml-agents": "4.0.0",
     "com.unity.modules.physics": "1.0.0"
   }
 }
diff --git a/com.unity.ml-agents/Documentation~/com.unity.ml-agents.md b/com.unity.ml-agents/Documentation~/com.unity.ml-agents.md
@@ -73,10 +73,10 @@ You can control the frequency of Academy stepping by calling `Academy.Instance.D
 * [Website]
 
 [github docs]: https://unity-technologies.github.io/ml-agents/
-[installation instructions]: https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/docs/Installation.md
+[installation instructions]: https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/docs/Installation.md
 [Unity Inference Engine]: https://docs.unity3d.com/Packages/[email protected]/manual/index.html
 [python package]: https://github.com/Unity-Technologies/ml-agents
-[ML-Agents GitHub repo]: https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/com.unity.ml-agents.extensions
+[ML-Agents GitHub repo]: https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/com.unity.ml-agents.extensions
 [GitHub repository]: https://github.com/Unity-Technologies/ml-agents
 [Execution Order of Event Functions]: https://docs.unity3d.com/Manual/ExecutionOrder.html
 [Unity Discussions]: https://discussions.unity.com/tag/ml-agents

diff --git a/com.unity.ml-agents/Runtime/Academy.cs b/com.unity.ml-agents/Runtime/Academy.cs
@@ -20,7 +20,7 @@
  * API. For more information on each of these entities, in addition to how to
  * set-up a learning environment and train the behavior of characters in a
  * Unity scene, please browse our documentation pages on GitHub:
- * https://github.com/Unity-Technologies/ml-agents/tree/release_22_docs/docs/
+ * https://github.com/Unity-Technologies/ml-agents/tree/release_23_docs/docs/
  */
 
 namespace Unity.MLAgents
@@ -61,7 +61,7 @@ void FixedUpdate()
     /// fall back to inference or heuristic decisions. (You can also set agents to always use
     /// inference or heuristics.)
     /// </remarks>
-    [HelpURL("https://github.com/Unity-Technologies/ml-agents/tree/release_22_docs/" +
+    [HelpURL("https://github.com/Unity-Technologies/ml-agents/tree/release_23_docs/" +
         "docs/Learning-Environment-Design.md")]
     public class Academy : IDisposable
     {

diff --git a/com.unity.ml-agents/Runtime/Actuators/IActionReceiver.cs b/com.unity.ml-agents/Runtime/Actuators/IActionReceiver.cs
@@ -184,7 +184,7 @@ public interface IActionReceiver
         ///
         /// See [Agents - Actions] for more information on masking actions.
         ///
-        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/docs/Learning-Environment-Design-Agents.md#actions
+        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/docs/Learning-Environment-Design-Agents.md#actions
         /// </remarks>
         /// <seealso cref="IActionReceiver.OnActionReceived"/>
         void WriteDiscreteActionMask(IDiscreteActionMask actionMask);

diff --git a/com.unity.ml-agents/Runtime/Actuators/IDiscreteActionMask.cs b/com.unity.ml-agents/Runtime/Actuators/IDiscreteActionMask.cs
@@ -16,7 +16,7 @@ public interface IDiscreteActionMask
         ///
         /// See [Agents - Actions] for more information on masking actions.
         ///
-        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/docs/Learning-Environment-Design-Agents.md#masking-discrete-actions
+        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/docs/Learning-Environment-Design-Agents.md#masking-discrete-actions
         /// </remarks>
         /// <param name="branch">The branch for which the actions will be masked.</param>
         /// <param name="actionIndex">Index of the action.</param>

diff --git a/com.unity.ml-agents/Runtime/Agent.cs b/com.unity.ml-agents/Runtime/Agent.cs
@@ -192,13 +192,13 @@ public override BuiltInActuatorType GetBuiltInActuatorType()
     /// [OnDisable()]: https://docs.unity3d.com/ScriptReference/MonoBehaviour.OnDisable.html]
     /// [OnBeforeSerialize()]: https://docs.unity3d.com/ScriptReference/MonoBehaviour.OnBeforeSerialize.html
     /// [OnAfterSerialize()]: https://docs.unity3d.com/ScriptReference/MonoBehaviour.OnAfterSerialize.html
-    /// [Agents]: https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/docs/Learning-Environment-Design-Agents.md
-    /// [Reinforcement Learning in Unity]: https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/docs/Learning-Environment-Design.md
+    /// [Agents]: https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/docs/Learning-Environment-Design-Agents.md
+    /// [Reinforcement Learning in Unity]: https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/docs/Learning-Environment-Design.md
     /// [Unity ML-Agents Toolkit]: https://github.com/Unity-Technologies/ml-agents
-    /// [Unity ML-Agents Toolkit manual]: https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/docs/Readme.md
+    /// [Unity ML-Agents Toolkit manual]: https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/docs/Readme.md
     ///
     /// </remarks>
-    [HelpURL("https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/" +
+    [HelpURL("https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/" +
         "docs/Learning-Environment-Design-Agents.md")]
     [Serializable]
     [RequireComponent(typeof(BehaviorParameters))]
@@ -728,8 +728,8 @@ public int CompletedEpisodes
         /// for information about mixing reward signals from curiosity and Generative Adversarial
         /// Imitation Learning (GAIL) with rewards supplied through this method.
         ///
-        /// [Agents - Rewards]: https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/docs/Learning-Environment-Design-Agents.md#rewards
-        /// [Reward Signals]: https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/docs/ML-Agents-Overview.md#a-quick-note-on-reward-signals
+        /// [Agents - Rewards]: https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/docs/Learning-Environment-Design-Agents.md#rewards
+        /// [Reward Signals]: https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/docs/ML-Agents-Overview.md#a-quick-note-on-reward-signals
         /// </remarks>
         /// <param name="reward">The new value of the reward.</param>
         public void SetReward(float reward)
@@ -756,8 +756,8 @@ public void SetReward(float reward)
         /// for information about mixing reward signals from curiosity and Generative Adversarial
         /// Imitation Learning (GAIL) with rewards supplied through this method.
         ///
-        /// [Agents - Rewards]: https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/docs/Learning-Environment-Design-Agents.md#rewards
-        /// [Reward Signals]: https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/docs/ML-Agents-Overview.md#a-quick-note-on-reward-signals
+        /// [Agents - Rewards]: https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/docs/Learning-Environment-Design-Agents.md#rewards
+        /// [Reward Signals]: https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/docs/ML-Agents-Overview.md#a-quick-note-on-reward-signals
         ///</remarks>
         /// <param name="increment">Incremental reward value.</param>
         public void AddReward(float increment)
@@ -945,8 +945,8 @@ public virtual void Initialize() { }
         /// implementing a simple heuristic function can aid in debugging agent actions and interactions
         /// with its environment.
         ///
-        /// [Demonstration Recorder]: https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/docs/Learning-Environment-Design-Agents.md#recording-demonstrations
-        /// [Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/docs/Learning-Environment-Design-Agents.md#actions
+        /// [Demonstration Recorder]: https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/docs/Learning-Environment-Design-Agents.md#recording-demonstrations
+        /// [Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/docs/Learning-Environment-Design-Agents.md#actions
         /// [GameObject]: https://docs.unity3d.com/Manual/GameObjects.html
         /// </remarks>
         /// <example>
@@ -1203,7 +1203,7 @@ void ResetSensors()
         /// For more information about observations, see [Observations and Sensors].
         ///
         /// [GameObject]: https://docs.unity3d.com/Manual/GameObjects.html
-        /// [Observations and Sensors]: https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/docs/Learning-Environment-Design-Agents.md#observations-and-sensors
+        /// [Observations and Sensors]: https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/docs/Learning-Environment-Design-Agents.md#observations-and-sensors
         /// </remarks>
         public virtual void CollectObservations(VectorSensor sensor)
         {
@@ -1245,7 +1245,7 @@ public ReadOnlyCollection<float> GetStackedObservations()
         ///
         /// See [Agents - Actions] for more information on masking actions.
         ///
-        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/docs/Learning-Environment-Design-Agents.md#actions
+        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/docs/Learning-Environment-Design-Agents.md#actions
         /// </remarks>
         /// <seealso cref="IActionReceiver.OnActionReceived"/>
         public virtual void WriteDiscreteActionMask(IDiscreteActionMask actionMask) { }
@@ -1312,7 +1312,7 @@ public virtual void WriteDiscreteActionMask(IDiscreteActionMask actionMask) { }
         ///
         /// For more information about implementing agent actions see [Agents - Actions].
         ///
-        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/docs/Learning-Environment-Design-Agents.md#actions
+        /// [Agents - Actions]: https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/docs/Learning-Environment-Design-Agents.md#actions
         /// </para>
         /// </remarks>
         /// <param name="actions">

diff --git a/com.unity.ml-agents/Runtime/Demonstrations/DemonstrationRecorder.cs b/com.unity.ml-agents/Runtime/Demonstrations/DemonstrationRecorder.cs
@@ -19,7 +19,7 @@ namespace Unity.MLAgents.Demonstrations
     /// See [Imitation Learning - Recording Demonstrations] for more information.
     ///
     /// [GameObject]: https://docs.unity3d.com/Manual/GameObjects.html
-    /// [Imitation Learning - Recording Demonstrations]: https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/docs//Learning-Environment-Design-Agents.md#recording-demonstrations
+    /// [Imitation Learning - Recording Demonstrations]: https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/docs//Learning-Environment-Design-Agents.md#recording-demonstrations
     /// </remarks>
     [RequireComponent(typeof(Agent))]
     [AddComponentMenu("ML Agents/Demonstration Recorder", (int)MenuGroup.Default)]

diff --git a/docs/Inference-Engine.md b/docs/Inference-Engine.md
@@ -38,9 +38,9 @@ The ML-Agents Toolkit only supports the models created with our trainers. Model
 loading expects certain conventions for constants and tensor names. While it is
 possible to construct a model that follows these conventions, we don't provide
 any additional help for this. More details can be found in
-[TensorNames.cs](https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/com.unity.ml-agents/Runtime/Inference/TensorNames.cs)
+[TensorNames.cs](https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/com.unity.ml-agents/Runtime/Inference/TensorNames.cs)
 and
-[SentisModelParamLoader.cs](https://github.com/Unity-Technologies/ml-agents/blob/release_22_docs/com.unity.ml-agents/Runtime/Inference/SentisModelParamLoader.cs).
+[SentisModelParamLoader.cs](https://github.com/Unity-Technologies/ml-agents/blob/release_23_docs/com.unity.ml-agents/Runtime/Inference/SentisModelParamLoader.cs).
 
 If you wish to run inference on an externally trained model, you should use
 Inference Engine directly, instead of trying to run it through ML-Agents.