Hi there! I'm wondering if there's a specific reason the Unity samples and usage guidelines suggest to duplicate the whole training "ecosystem" (eg. terrain and props) to train multiple agents (reinforcement learning) at the same time. Feels a bit like... overloading the scene with loads of colliders and renderers, by duplicating the same, static, non-changing environment. Just for fun (or visual demonstration), I'd love to get the typical "all agents in a generation spreading from a single point" seen in a lot of ML videos not related to Unity. Maybe I'm missing something? Premising that no interaction can alter the "environment" an agent can move in (eg: static terrain, racing track), wouldn't ignoring or disabling collisions among agents be better than duplicating complex environments? I'm still tinkering with Barracuda and MLAgents (and ML in general), so I may be missing something. Part 2: I'm also thinking about resetting agents at some distance so that they can eventually collide and try to avoid themselves. Doing all the training in a single environment (without the need to make the environment+agents a prototype) Is there any ready to use solution to handle some corner case scenario I may be ignoring? Have you already done that? Is this something so trivial that no one actually thinks about it, or is it notoriously not possible? Thanks for your time.