Question Heuristic is called when in inference only

Hi there
I am new in Unity and trying some ml-agents-based path-finding game.
I trained my agent for some time and got good results (watched the cumulative reward reaches his top value on TensorBoard). But when I implemented my trained weights as the agent's model, nothing happens.
I set the behavior to 'Inference only' and to 'Default' and nothing happens, and when I press the errows the agent moves (meaning it uses Heuristic method).
Please help me understand where I go wrong

I also attach the agent's code
Thank you

Code (CSharp):

1. using System.Collections;
2. using System.Collections.Generic;
3. using UnityEngine;
4. using Unity.MLAgents;
5. using Unity.MLAgents.Sensors;
6.  
7. public class PlayerAgentBasic : Agent
8. {
9.     [SerializeField]
10.     private float speed = 5.0f;
11.  
12.     [SerializeField]
13.     private float distanceRequired = 1.5f;
14.  
15.     [SerializeField]
16.     private GameObject target;
17.  
18.     [SerializeField]
19.     private Material successMateial;
20.  
21.     [SerializeField]
22.     private Material failMateial;
23.  
24.     [SerializeField]
25.     private Material defaultMateial;
26.  
27.     [SerializeField]
28.     private MeshRenderer groundMeshRenderer;
29.  
30.     #region Private Instance Variables
31.     private Rigidbody playerRigidBody;
32.     private Vector3 originalPosition;
33.     private Vector3 originalTargetPosition;
34.     #endregion
35.  
36.     public override void Initialize()
37.     {
38.         playerRigidBody = GetComponent<Rigidbody>();
39.         originalPosition = transform.localPosition;
40.         originalTargetPosition = target.transform.localPosition;
41.     }
42.  
43.     public override void OnEpisodeBegin()
44.     {
45.         transform.LookAt(transform.transform);
46.         target.transform.localPosition = new Vector3(originalTargetPosition.x, originalTargetPosition.y, Random.Range(-4, 4));
47.         transform.localPosition = originalPosition;
48.         transform.localPosition = new Vector3(originalPosition.x, originalPosition.y, Random.Range(-4, 4));
49.     }
50.     public override void CollectObservations(VectorSensor sensor)
51.     {
52.         sensor.AddObservation(transform.localPosition); // x y z (3 dim)
53.         sensor.AddObservation(target.transform.localPosition); // x y z (3 dim)
54.         sensor.AddObservation(playerRigidBody.velocity.x); // one dimention
55.         sensor.AddObservation(playerRigidBody.velocity.z); // one dimention
56.  
57.     }
58.  
59.     public override void OnActionReceived(float[] vectorAction)
60.     {
61.         var vectorForce = new Vector3();
62.         vectorForce.x = vectorAction[0];
63.         vectorForce.z = vectorAction[1];
64.  
65.         playerRigidBody.AddForce(vectorForce * speed);
66.  
67.         var distanceFromTarget = Vector3.Distance(transform.localPosition, target.transform.localPosition);
68.  
69.         if(distanceFromTarget < distanceRequired) // we are doing good
70.         {
71.             SetReward(1.0f);
72.             EndEpisode();
73.             StartCoroutine(swapGroundMaterial(successMateial, 0.5f));
74.  
75.         }
76.         if (transform.localPosition.y < 0) // falling of the floor
77.         {
78.             AddReward(-.5f);
79.             EndEpisode();
80.  
81.             StartCoroutine(swapGroundMaterial(failMateial, 0.5f));
82.         }
83.         // go back and punish the agent for falling
84.  
85.     }
86.  
87.     public override void Heuristic(float[] actionsOut) // telling the agent how to move
88.     {
89.  
90.         actionsOut[0] = Input.GetAxis("Horizontal"); // x
91.         actionsOut[1] = Input.GetAxis("Vertical"); // z
92.     }
93.  
94.     private IEnumerator swapGroundMaterial(Material mat, float time)
95.     {
96.         groundMeshRenderer.material = mat;
97.         yield return new WaitForSeconds(time);
98.         groundMeshRenderer.material = defaultMateial;
99.  
100.     }
101. }
102.  

 

Can someone please take a look?
I am stuck on this for a week now..

 

Hi, thank you!
I'm using version 1.0.7

 

Hi thank you for your reply.
I set the behavior type to 'Inference only' but when I hit play heuristic method is called and I don't understand why

 

It stays in inference only...