Unity-Technologies · maryamziaa · Aug 25, 2025 · Aug 25, 2025 · Aug 25, 2025 · Aug 25, 2025
diff --git a/Readme.md b/Readme.md
@@ -38,7 +38,7 @@ The table below shows our latest release, including our `develop` branch which i
 
 |      **Version**       |  **Release Date**   |                                  **Source**                                   |                                                 **Documentation**                                                  |                                      **Download**                                      |                  **Python Package**                   |                                   **Unity Package**                                   |
 |:----------------------:|:-------------------:|:-----------------------------------------------------------------------------:|:------------------------------------------------------------------------------------------------------------------:|:--------------------------------------------------------------------------------------:|:-----------------------------------------------------:|:-------------------------------------------------------------------------------------:|
-|     **Release 23**     | **August 15, 2025** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/release_23)** |              **[docs](https://docs.unity3d.com/Packages/[email protected]/manual/index.html)**               | **[download](https://github.com/Unity-Technologies/ml-agents/archive/release_23.zip)** | **[1.1.0](https://pypi.org/project/mlagents/1.1.0/)** |                                       **4.0.0**                                       |
+|     **Release 23**     | **August 28, 2025** | **[source](https://github.com/Unity-Technologies/ml-agents/tree/release_23)** |              **[docs](https://docs.unity3d.com/Packages/[email protected]/manual/index.html)**               | **[download](https://github.com/Unity-Technologies/ml-agents/archive/release_23.zip)** | **[1.1.0](https://pypi.org/project/mlagents/1.1.0/)** |                                       **4.0.0**                                       |
 | **develop (unstable)** |         --          |    [source](https://github.com/Unity-Technologies/ml-agents/tree/develop)     | [docs](https://github.com/Unity-Technologies/ml-agents/tree/develop/com.unity.ml-agents/Documentation~/index.md)   |    [download](https://github.com/Unity-Technologies/ml-agents/archive/develop.zip)     |                         --                            |                                          --                                           |
 
 

diff --git a/com.unity.ml-agents/CHANGELOG.md b/com.unity.ml-agents/CHANGELOG.md
@@ -6,7 +6,9 @@ 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).
 
-## [4.0.0] - 2025-08-15
+## [Unreleased]
+
+## [4.0.0] - 2025-08-28
 ### Major Changes
 #### com.unity.ml-agents (C#)
 - Upgraded to Inference Engine 2.2.1 (#6212)

diff --git a/com.unity.ml-agents/Documentation~/Installation.md b/com.unity.ml-agents/Documentation~/Installation.md
@@ -1,23 +1,21 @@
 # Installation
-To install and use the ML-Agents Toolkit, follow the steps below. Detailed instructions for each step are provided later on this page.
+To install and use the ML-Agents Toolkit, follow the steps below. Detailed instructions for each step are provided later on this page. For advanced installation and development setup, see the [Advanced Installation](#advanced-installation) section at the bottom of this page.
 
 1. Install Unity (6000.0 or later)
-2. Install Python (>= 3.10.1, <=3.10.12) - we recommend using 3.10.12
-3. Install the `com.unity.ml-agents` Unity package; or clone this repository and install locally (recommended for the latest version and bug fixes)
+2. Install Python using conda (>= 3.10.1, <=3.10.12) - we recommend using 3.10.12
+3. Install the `com.unity.ml-agents` Unity package
 4. Install `mlagents-envs`
 5. Install `mlagents`
 
 ### Install **Unity 6000.0** or Later
 
 [Download](https://unity3d.com/get-unity/download) and install Unity. We strongly recommend that you install Unity through the Unity Hub as it will enable you to manage multiple Unity versions.
 
-### Install **Python 3.10.12**
+### Install **Python 3.10.12** using Conda
 
-We recommend [installing](https://www.python.org/downloads/) Python 3.10.12. If you are using Windows, please install the x86-64 version and not x86. If your Python environment doesn't include `pip3`, see these [instructions](https://packaging.python.org/guides/installing-using-linux-tools/#installing-pip-setuptools-wheel-with-linux-package-managers) on installing it. We also recommend using [conda](https://docs.conda.io/en/latest/) or [mamba](https://github.com/mamba-org/mamba) to manage your python virtual environments.
+We recommend using [conda](https://docs.conda.io/en/latest/) or [mamba](https://github.com/mamba-org/mamba) to install and manage Python environments.
 
-#### Conda python setup
-
-Once conda has been installed in your system, open a terminal and execute the following commands to setup a python 3.10.12 virtual environment and activate it.
+Once conda has been installed on your system, open a terminal and execute the following commands to setup a Python 3.10.12 virtual environment and activate it:
 
 ```shell
 conda create -n mlagents python=3.10.12 && conda activate mlagents
@@ -27,13 +25,40 @@ conda create -n mlagents python=3.10.12 && conda activate mlagents
 
 The Unity ML-Agents C# SDK is a Unity Package. You can install the `com.unity.ml-agents` package [directly from the Package Manager registry](https://docs.unity3d.com/Manual/upm-ui-install.html). Please make sure you enable 'Preview Packages' in the 'Advanced' dropdown in order to find the latest Preview release of the package.
 
-**NOTE:** If you do not see the ML-Agents package listed in the Package Manager please follow the advanced installation instructions below.
+**NOTE:** If you do not see the ML-Agents package listed in the Package Manager please follow the [Advanced Installation](#advanced-installation) instructions at the bottom of this page.
+
+### Install Python package
+
+Installing the `mlagents` Python package involves installing other Python packages that `mlagents` depends on. So you may run into installation issues if your machine has older versions of any of those dependencies already installed. Consequently, our supported path for installing `mlagents` is to leverage Python Virtual Environments. Virtual Environments provide a mechanism for isolating the dependencies for each project and are supported on Mac / Windows / Linux. We offer a dedicated [guide on Virtual Environments](Using-Virtual-Environment.md).
+
+#### Installing `mlagents` from PyPi
+
+You can install the ML-Agents Python package directly from PyPi. This is the recommended approach if you installed the C# package via the Package Manager registry.
+
+**Important:** Ensure you install a Python package version that matches your Unity package version. Check the [release history](https://github.com/Unity-Technologies/ml-agents/releases) to find compatible versions.
+
+To install, activate your virtual environment and run the following command:
+
+```shell
+python -m pip install mlagents==1.1.0
+```
+
+which will install the latest version of ML-Agents Python packages and associated dependencies available on PyPi. If building the wheel for `grpcio` fails, run the following command before installing `mlagents` with pip:
+
+```shell
+conda install "grpcio=1.48.2" -c conda-forge
+```
+
+When you install the Python package, the dependencies listed in the [setup.py file](https://github.com/Unity-Technologies/ml-agents/blob/release/4.0.0/ml-agents/setup.py) are also installed. These include [PyTorch](Background-PyTorch.md).
+
+
+## Advanced Installation
 
-#### Advanced: Local Installation for Development
+### Unity Package: Local Installation for Development
 
 You will need to clone the repository if you plan to modify or extend the ML-Agents Toolkit for your purposes, or if you'd like to download our example environments. Some of our tutorials / guides assume you have access to our example environments.
 
-Use the command below to clone the repository
+Use the command below to clone the repository:
 
 ```sh
 git clone --branch release_23 https://github.com/Unity-Technologies/ml-agents.git
@@ -59,37 +84,11 @@ You can [add the local](https://docs.unity3d.com/Manual/upm-ui-local.html) `com.
 
 <p align="center"> <img src="images/unity_package_manager_window.png" alt="Unity Package Manager Window" height="150" border="10" /> <img src="images/unity_package_json.png" alt="package.json" height="150" border="10" /> </p>
 
-If you are going to follow the examples from our documentation, you can open the
-`Project` folder in Unity and start tinkering immediately.
+If you are going to follow the examples from our documentation, you can open the `Project` folder in Unity and start tinkering immediately.
 
-### Install Python package
-
-Installing the `mlagents` Python package involves installing other Python packages that `mlagents` depends on. So you may run into installation issues if your machine has older versions of any of those dependencies already installed. Consequently, our supported path for installing `mlagents` is to leverage Python Virtual Environments. Virtual Environments provide a mechanism for isolating the dependencies for each project and are supported on Mac / Windows / Linux. We offer a dedicated [guide on Virtual Environments](Using-Virtual-Environment.md).
-
-#### Installing `mlagents` from PyPi
-
-You can install the ML-Agents Python package directly from PyPi. This is the recommended approach if you installed the C# package via the Package Manager registry.
+### Python Package: Local Installation for Development
 
-**Important:** Ensure you install a Python package version that matches your Unity package version. Check the [release history](https://github.com/Unity-Technologies/ml-agents/releases) to find compatible versions.
-
-To install, activate your virtual environment and run the following command:
-
-```shell
-python -m pip install mlagents==1.1.0
-```
-
-which will install the latest version of ML-Agents Python packages and associated dependencies available on PyPi. If building the wheel for `grpcio` fails, run the following command before installing `mlagents` with pip:
-
-```shell
-conda install "grpcio=1.48.2" -c conda-forge
-```
-
-When you install the Python package, the dependencies listed in the [setup.py file](https://github.com/Unity-Technologies/ml-agents/blob/release/4.0.0/ml-agents/setup.py) are also installed. These include [PyTorch](Background-PyTorch.md).
-
-
-#### Advanced: Local Installation for Development
-
-##### (Windows) Installing PyTorch
+#### (Windows) Installing PyTorch
 
 On Windows, you'll have to install the PyTorch package separately prior to installing ML-Agents in order to make sure the cuda-enabled version is used, rather than the CPU-only version. Activate your virtual environment and run from the command line:
 
@@ -99,7 +98,7 @@ pip3 install torch~=2.2.1 --index-url https://download.pytorch.org/whl/cu121
 
 Note that on Windows, you may also need Microsoft's Visual C++ Redistributable if you don't have it already. See the [PyTorch installation guide](https://pytorch.org/get-started/locally/) for more installation options and versions.
 
-##### All Platforms
+#### All Platforms
 
 To install the `mlagents` Python package, activate your virtual environment and run from the command line:
 
@@ -111,8 +110,6 @@ python -m pip install ./ml-agents
 
 Note that this will install `mlagents` from the cloned repository, _not_ from the PyPi repository. If you installed this correctly, you should be able to run `mlagents-learn --help`, after which you will see the command line parameters you can use with `mlagents-learn`.
 
-
-
 If you intend to make modifications to `mlagents` or `mlagents_envs`, from the repository's root directory, run:
 
 ```sh

diff --git a/com.unity.ml-agents/Documentation~/Training-ML-Agents.md b/com.unity.ml-agents/Documentation~/Training-ML-Agents.md
@@ -357,7 +357,7 @@ Below is a list of the `sampler_type` values supported by the toolkit.
 - `gaussian` - Gaussian sampler
   - Samples a single float value from a normal distribution with a given mean and standard deviation.
   - **parameters** - `mean`, `st_dev`
-- `multirange_uniform` - Multirange uniform sampler
+- `multirangeuniform` - Multirange uniform sampler
   - First, samples an interval from a set of intervals in proportion to relative length of the intervals. Then, uniformly samples a single float value from the sampled interval (inclusive). This sampler can take an arbitrary number of intervals in a list in the following format: [[`interval_1_min`, `interval_1_max`], [`interval_2_min`, `interval_2_max`], ...]
   - **parameters** - `intervals`