Hi, I've got two seperate questions: First one regarding PPO: Why does the buffer size matter for learning? For example: Buffer size 10k and batch size 1k -> Updates the model when 10k experiences are collected 10 times. But when Buffer size is 1k and batch size is 1k -> The model just gets updated more frequently (every 1k steps so after 10k steps also 10k differnet observations should be used for an update)? Also why should you multiply it with num_envs, since more parallel envs should only mean faster generation of samples and not something different with the buffer? Second question is regarding the obeservations in the Agent script. Is there a way to access the observations of the Vectorsensor Component? I can add them in the CollectObservations function, but can I access them in a different function? Thanks in advance!