We have a multi-environment set-up with policy sharing. We are looking for a way to end the episode and reset the environment from any agent. In the Awake() function of the environment, we achieve this by calling Academy.Instance.OnEnvironmentReset += EnvironmentReset; During training, once a termination criterion is met (ex. maxStep), the listener OnEnvironmentReset is not called anymore. Also Academy.Instance.Done() does not exist anymore. We would like to start a new episode and reset the environment in the same way as done in Awake().