Agent training is working fine but exported model dose not working in Unity

I have training vehicle agent to follow a simple track. I am using behavioural cloning when I train the model I see it works fine but after that when I export it in Unity the agent just stuck.

my config file
------------------

Code (CSharp):

1. default:
2.     trainer: ppo
3.     batch_size: 1024
4.     beta: 5.0e-3
5.     buffer_size: 10240
6.     epsilon: 0.2
7.     hidden_units: 128
8.     lambd: 0.99
9.     learning_rate: 3.0e-4
10.     max_steps: 5000000
11.     memory_size: 256
12.     normalize: false
13.     num_epoch: 3
14.     num_layers: 2
15.     time_horizon: 64
16.     sequence_length: 64
17.     summary_freq: 10000
18.     use_recurrent: false
19.     reward_signals:
20.         extrinsic:
21.             strength: 1.0
22.             gamma: 0.99
23.  
24.  
25. RaceAgent:
26.     summary_freq: 10000
27.     time_horizon: 64
28.     batch_size: 256
29.     buffer_size: 2048
30.     hidden_units: 128
31.     num_layers: 2
32.     beta: 5.0e-4
33.     learning_rate_schedule: linear
34.     max_steps: 5.0e7
35.     num_epoch: 3
36.     behavioral_cloning:
37.         demo_path: RaceAgentN4_1.demo
38.         strength: 1.0
39.         steps: 150000
40.     reward_signals:
41.         extrinsic:
42.             strength: 0.1
43.             gamma: 0.99
44.         curiosity:
45.             strength: 0.01
46.             gamma: 0.90
47.             encoding_size: 256
48.         gail:
49.             strength: 1.0
50.             gamma: 0.99
51.             encoding_size: 128
52.             demo_path: RaceAgentN4_1.demo

Code (CSharp):

1. using System;
2.  
3. public class BikeAgent : Agent
4. {
5.     [SerializeField] private Transform m_SpawnPos;
6.     [SerializeField] private Vehicle _vehicle; // ref
7.     [SerializeField] private TrackCheckpoints _trackCheckpoints; // ref
8.     [SerializeField] private Transform m_BikeSphere;
9.  
10.  
11.     public override void Initialize()
12.     {
13.         base.Initialize();
14.         _trackCheckpoints.OnPlayerCorrectCheckpoint += OnCorrectCheckPoint;
15.         _trackCheckpoints.OnPlayerWrongCheckpoint -= OnWrongCheckPoint;
16.         _vehicle.StopVehicle = false;
17.     }
18.  
19.     //reward
20.     void OnCorrectCheckPoint(Transform carTransform, bool isLapComplete)
21.     {
22.         //bike sphere
23.         if(carTransform == this.m_BikeSphere)
24.         {
25.             AddReward(1f);
26.             if (isLapComplete) AddReward(1f);
27.             // print("Reward");
28.         }
29.  
30.     }
31.  
32.     //punish
33.     void OnWrongCheckPoint(Transform carTransform)
34.     {
35.         if (carTransform == this.m_BikeSphere)
36.         {
37.             AddReward(-1f);
38.         }
39.     }
40.  
41.     public override void OnEpisodeBegin()
42.     {
43.         base.OnEpisodeBegin();
44.  
45.         //reset vehicle
46.         ResetVehicle();
47.     }
48.  
49.     void ResetVehicle()
50.     {
51.         _vehicle.StopVehicle = true;
52.         Vector3 spwnPos = m_SpawnPos.position + new Vector3(x: Random.Range(-3f, 3f), 0.75f, Random.Range(-2f, 2f));
53.         transform.position = spwnPos;
54.         m_BikeSphere.position = spwnPos;
55.         transform.forward = m_SpawnPos.forward;
56.         m_BikeSphere.forward = m_SpawnPos.forward;
57.  
58.         _trackCheckpoints.ResetCheckPoint(m_BikeSphere);      
59.         //todo reset checkpoint
60.     }
61.  
62.     //collect observation
63.     public override void CollectObservations(VectorSensor sensor)
64.     {
65.         base.CollectObservations(sensor);
66.  
67.         Vector3 checkPointForward = _trackCheckpoints.GetNextCheckPoint(this.m_BikeSphere).transform.forward;
68.         float dirDot = Vector3.Dot(this.transform.forward, checkPointForward);
69.         sensor.AddObservation(dirDot);
70.  
71.         //m_SpawnPos.transform.position = _trackCheckpoints.GetPreviousCheckPoint(this.m_BikeSphere).position;
72.         //print(dirDot);
73.     }
74.  
75.     //action received
76.     public override void OnActionReceived(float[] vectorAction)
77.     {
78.         base.OnActionReceived(vectorAction);
79.  
80.         //get off from the track
81.         if (transform.position.y < 0f)
82.         {
83.             AddReward(-1f);
84.             EndEpisode();
85.         }
86.         else
87.         {
88.             _vehicle.StopVehicle = false;
89.         }
90.  
91.         float forwardAmount = 0f;
92.         float turnAmount = 0f;
93.  
94.         forwardAmount = Mathf.FloorToInt(vectorAction[0]);
95.         turnAmount = Mathf.FloorToInt(vectorAction[1]);
96.  
97.         switch (forwardAmount)
98.         {
99.             case 0:
100.                 //idle
101.                 break;
102.             case 1:
103.                 //forward
104.                 _vehicle.ControlAccelerate();
105.                 break;
106.             case 2:
107.                 //backward
108.                 _vehicle.ControlBrake();
109.                 break;
110.         }
111.  
112.         switch (turnAmount)
113.         {
114.             case 0:
115.                 //idle
116.                 break;
117.             case 1:
118.                 //left
119.                 _vehicle.ControlSteer(-1);
120.                 break;
121.             case 2:
122.                 //right
123.                 _vehicle.ControlSteer(1);
124.                 break;
125.         }
126.  
127.         AddReward(-1f / MaxStep);
128.     }
129.  
130.    
131.     public override void Heuristic(float[] actionsOut)
132.     {
133.         base.Heuristic(actionsOut);
134.  
135.         //default idle
136.         actionsOut[0] = 0; // forward
137.         actionsOut[1] = 0; // turn
138.  
139.         //acclerate
140.         if (Input.GetKey(KeyCode.W)) actionsOut[0] = 1;
141.         // break
142.         if (Input.GetKey(KeyCode.S)) actionsOut[0] = 2;
143.  
144.         // turn left
145.         if (Input.GetKey(KeyCode.A)) actionsOut[1] = 1;
146.         // turn right
147.         if (Input.GetKey(KeyCode.D)) actionsOut[1] = 2;
148.  
149.     }
150.  
151.     //todo collision obstacle reward etc
152.  
153.     private void OnCollisionEnter(Collision other)
154.     {
155.         if (other.gameObject.CompareTag("wall"))
156.         {
157.             AddReward(-0.05f);
158.         }
159.     }
160.  
161.     private void OnCollisionStay(Collision other)
162.     {
163.         if (other.gameObject.CompareTag("wall"))
164.         {
165.             AddReward(-0.01f);
166.         }
167.     }
168.  
169.     // Update is called once per frame
170.     void Update()
171.     {
172.         //todo update UI
173.     }
174. }
175.  

 

thank you for your kind response. there was another issue rising after lots of training with behavioral cloning with gail and curiosity agents is not learning properly.