diff --git a/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab b/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab
index 42487ac220..32255fd164 100644
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+  - component: {fileID: 509807725215820459}
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   m_Name: eye
   m_TagString: Untagged
@@ -4266,35 +4231,35 @@ GameObject:
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
   m_IsActive: 1
---- !u!4 &4683691907469924
+--- !u!4 &2501726581560323400
 Transform:
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   m_CorrespondingSourceObject: {fileID: 0}
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 1988976889579366}
+  m_GameObject: {fileID: 8902619455849538040}
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   m_LocalScale: {x: 0.29457998, y: 0.29457998, z: 0.29457998}
   m_Children: []
-  m_Father: {fileID: 4991109413118678}
+  m_Father: {fileID: 4355548278584398525}
   m_RootOrder: 2
   m_LocalEulerAnglesHint: {x: 0, y: 180, z: 0}
---- !u!33 &33422890814875164
+--- !u!33 &2536558714243097673
 MeshFilter:
   m_ObjectHideFlags: 0
   m_CorrespondingSourceObject: {fileID: 0}
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 1988976889579366}
+  m_GameObject: {fileID: 8902619455849538040}
   m_Mesh: {fileID: 10210, guid: 0000000000000000e000000000000000, type: 0}
---- !u!23 &23996567852471186
+--- !u!23 &509807725215820459
 MeshRenderer:
   m_ObjectHideFlags: 0
   m_CorrespondingSourceObject: {fileID: 0}
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 1988976889579366}
+  m_GameObject: {fileID: 8902619455849538040}
   m_Enabled: 1
   m_CastShadows: 1
   m_ReceiveShadows: 1
@@ -4325,7 +4290,7 @@ MeshRenderer:
   m_SortingLayerID: 0
   m_SortingLayer: 0
   m_SortingOrder: 0
---- !u!1 &1993628116669046
+--- !u!1 &9136065168043485173
 GameObject:
   m_ObjectHideFlags: 0
   m_CorrespondingSourceObject: {fileID: 0}
@@ -4333,86 +4298,59 @@ GameObject:
   m_PrefabAsset: {fileID: 0}
   serializedVersion: 6
   m_Component:
-  - component: {fileID: 4307067024525734}
-  - component: {fileID: 33693580190047416}
-  - component: {fileID: 23941816170183106}
-  - component: {fileID: 65779051553495090}
+  - component: {fileID: 2148914632064875291}
+  - component: {fileID: 4662000663245579659}
   m_Layer: 0
-  m_Name: GoalPurple
-  m_TagString: purpleGoal
+  m_Name: PurpleReverseRays
+  m_TagString: Untagged
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
-  m_StaticEditorFlags: 65
+  m_StaticEditorFlags: 0
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---- !u!4 &4307067024525734
+--- !u!4 &2148914632064875291
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-  m_LocalRotation: {x: 0, y: -0, z: -0, w: 1}
-  m_LocalPosition: {x: 1650, y: -25, z: -0.000015258789}
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   m_Children: []
-  m_Father: {fileID: 4109868016055942}
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---- !u!65 &65779051553495090
-BoxCollider:
+  m_Father: {fileID: 4277721046484044}
+  m_RootOrder: 1
+  m_LocalEulerAnglesHint: {x: 0, y: 180, z: 0}
+--- !u!114 &4662000663245579659
+MonoBehaviour:
   m_ObjectHideFlags: 0
   m_CorrespondingSourceObject: {fileID: 0}
   m_PrefabInstance: {fileID: 0}
   m_PrefabAsset: {fileID: 0}
-  m_GameObject: {fileID: 1993628116669046}
-  m_Material: {fileID: 0}
-  m_IsTrigger: 0
+  m_GameObject: {fileID: 9136065168043485173}
   m_Enabled: 1
-  serializedVersion: 2
-  m_Size: {x: 200, y: 50, z: 850.0001}
-  m_Center: {x: 0, y: 0, z: 0}
+  m_EditorHideFlags: 0
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+  m_Name: 
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+  sensorName: PurpleRayPerceptionSensorReverse
+  detectableTags:
+  - ball
+  - purpleGoal
+  - blueGoal
+  - wall
+  - purpleAgent
+  - blueAgent
+  raysPerDirection: 1
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+  sphereCastRadius: 0.5
+  rayLength: 20
+  rayLayerMask:
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+  useWorldPositions: 1
+  startVerticalOffset: 0.5
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diff --git a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
index 05dcb08bbd..76611eaccb 100644
--- a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
+++ b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
@@ -1,3 +1,4 @@
+using System;
 using UnityEngine;
 using MLAgents;
 
@@ -12,17 +13,12 @@ public class AgentSoccer : Agent
     // * opposing player
     public enum Team
     {
-        Purple,
-        Blue
-    }
-    public enum AgentRole
-    {
-        Striker,
-        Goalie
+        Blue = 0,
+        Purple = 1
     }
 
+    [HideInInspector]
     public Team team;
-    public AgentRole agentRole;
     float m_KickPower;
     int m_PlayerIndex;
     public SoccerFieldArea area;
@@ -31,39 +27,23 @@ public enum AgentRole
     public Rigidbody agentRb;
     SoccerSettings m_SoccerSettings;
     Renderer m_AgentRenderer;
+    BehaviorParameters m_BP;
+    Vector3 m_Transform;
 
-    public void ChooseRandomTeam()
+    public override void InitializeAgent()
     {
-        team = (Team)Random.Range(0, 2);
-        if (team == Team.Purple)
+        base.InitializeAgent();
+        m_BP = gameObject.GetComponent<BehaviorParameters>();
+        if (m_BP.m_TeamID == (int)Team.Blue)
         {
-            JoinPurpleTeam(agentRole);
+            team = Team.Blue;
+            m_Transform = new Vector3(transform.position.x - 4f, .5f, transform.position.z);
         }
         else
         {
-            JoinBlueTeam(agentRole);
+            team = Team.Purple;
+            m_Transform = new Vector3(transform.position.x + 4f, .5f, transform.position.z);
         }
-    }
-
-    public void JoinPurpleTeam(AgentRole role)
-    {
-        agentRole = role;
-        team = Team.Purple;
-        m_AgentRenderer.material = m_SoccerSettings.purpleMaterial;
-        tag = "purpleAgent";
-    }
-
-    public void JoinBlueTeam(AgentRole role)
-    {
-        agentRole = role;
-        team = Team.Blue;
-        m_AgentRenderer.material = m_SoccerSettings.blueMaterial;
-        tag = "blueAgent";
-    }
-
-    public override void InitializeAgent()
-    {
-        base.InitializeAgent();
         m_AgentRenderer = GetComponentInChildren<Renderer>();
         m_SoccerSettings = FindObjectOfType<SoccerSettings>();
         agentRb = GetComponent<Rigidbody>();
@@ -87,53 +67,43 @@ public void MoveAgent(float[] act)
 
         var action = Mathf.FloorToInt(act[0]);
 
-        // Goalies and Strikers have slightly different action spaces.
-        if (agentRole == AgentRole.Goalie)
+        m_KickPower = 0f;
+
+        var forwardAxis = (int)act[0];
+        var rightAxis = (int)act[1];
+        var rotateAxis = (int)act[2];
+
+        switch (forwardAxis)
         {
-            m_KickPower = 0f;
-            switch (action)
-            {
-                case 1:
-                    dirToGo = transform.forward * 1f;
-                    m_KickPower = 1f;
-                    break;
-                case 2:
-                    dirToGo = transform.forward * -1f;
-                    break;
-                case 4:
-                    dirToGo = transform.right * -1f;
-                    break;
-                case 3:
-                    dirToGo = transform.right * 1f;
-                    break;
-            }
+            case 1:
+                dirToGo = transform.forward * 1f;
+                m_KickPower = 1f;
+                break;
+            case 2:
+                dirToGo = transform.forward * -1f;
+                break;
         }
-        else
+
+        switch (rightAxis)
         {
-            m_KickPower = 0f;
-            switch (action)
-            {
-                case 1:
-                    dirToGo = transform.forward * 1f;
-                    m_KickPower = 1f;
-                    break;
-                case 2:
-                    dirToGo = transform.forward * -1f;
-                    break;
-                case 3:
-                    rotateDir = transform.up * 1f;
-                    break;
-                case 4:
-                    rotateDir = transform.up * -1f;
-                    break;
-                case 5:
-                    dirToGo = transform.right * -0.75f;
-                    break;
-                case 6:
-                    dirToGo = transform.right * 0.75f;
-                    break;
-            }
+            case 1:
+                dirToGo = transform.right * 0.3f;
+                break;
+            case 2:
+                dirToGo = transform.right * -0.3f;
+                break;
         }
+
+        switch (rotateAxis)
+        {
+            case 1:
+                rotateDir = transform.up * -1f;
+                break;
+            case 2:
+                rotateDir = transform.up * 1f;
+                break;
+        }
+
         transform.Rotate(rotateDir, Time.deltaTime * 100f);
         agentRb.AddForce(dirToGo * m_SoccerSettings.agentRunSpeed,
             ForceMode.VelocityChange);
@@ -142,18 +112,42 @@ public void MoveAgent(float[] act)
     public override void AgentAction(float[] vectorAction)
     {
         // Existential penalty for strikers.
-        if (agentRole == AgentRole.Striker)
+        AddReward(-1f / 3000f);
+        MoveAgent(vectorAction);
+    }
+
+    public override float[] Heuristic()
+    {
+        var action = new float[3];
+        //forward
+        if (Input.GetKey(KeyCode.W))
         {
-            AddReward(-1f / 3000f);
+            action[0] = 1f;
         }
-        // Existential bonus for goalies.
-        if (agentRole == AgentRole.Goalie)
+        if (Input.GetKey(KeyCode.S))
         {
-            AddReward(1f / 3000f);
+            action[0] = 2f;
         }
-        MoveAgent(vectorAction);
+        //rotate
+        if (Input.GetKey(KeyCode.A))
+        {
+            action[2] = 1f;
+        }
+        if (Input.GetKey(KeyCode.D))
+        {
+            action[2] = 2f;
+        }
+        //right
+        if (Input.GetKey(KeyCode.E))
+        {
+            action[1] = 1f;
+        }
+        if (Input.GetKey(KeyCode.Q))
+        {
+            action[1] = 2f;
+        }
+        return action;
     }
-
     /// <summary>
     /// Used to provide a "kick" to the ball.
     /// </summary>
@@ -170,22 +164,15 @@ void OnCollisionEnter(Collision c)
 
     public override void AgentReset()
     {
-        if (m_SoccerSettings.randomizePlayersTeamForTraining)
-        {
-            ChooseRandomTeam();
-        }
-
         if (team == Team.Purple)
         {
-            JoinPurpleTeam(agentRole);
             transform.rotation = Quaternion.Euler(0f, -90f, 0f);
         }
         else
         {
-            JoinBlueTeam(agentRole);
             transform.rotation = Quaternion.Euler(0f, 90f, 0f);
         }
-        transform.position = area.GetRandomSpawnPos(agentRole, team);
+        transform.position = m_Transform;
         agentRb.velocity = Vector3.zero;
         agentRb.angularVelocity = Vector3.zero;
         SetResetParameters();
diff --git a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerBallController.cs b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerBallController.cs
index 0951eeec7b..13a5e171a2 100644
--- a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerBallController.cs
+++ b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerBallController.cs
@@ -4,14 +4,12 @@ public class SoccerBallController : MonoBehaviour
 {
     [HideInInspector]
     public SoccerFieldArea area;
-    public AgentSoccer lastTouchedBy; //who was the last to touch the ball
-    public string agentTag; //will be used to check if collided with a agent
-    public string purpleGoalTag; //will be used to check if collided with red goal
+    public string purpleGoalTag; //will be used to check if collided with purple goal
     public string blueGoalTag; //will be used to check if collided with blue goal
 
     void OnCollisionEnter(Collision col)
     {
-        if (col.gameObject.CompareTag(purpleGoalTag)) //ball touched red goal
+        if (col.gameObject.CompareTag(purpleGoalTag)) //ball touched purple goal
         {
             area.GoalTouched(AgentSoccer.Team.Blue);
         }
diff --git a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs
index 1a66a507c3..9898113c5d 100644
--- a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs
+++ b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs
@@ -35,13 +35,6 @@ public class SoccerFieldArea : MonoBehaviour
 
     SoccerSettings m_SoccerSettings;
 
-    public IEnumerator GoalScoredSwapGroundMaterial(Material mat, float time)
-    {
-        m_GroundRenderer.material = mat;
-        yield return new WaitForSeconds(time);
-        m_GroundRenderer.material = m_GroundMaterial;
-    }
-
     void Awake()
     {
         m_SoccerSettings = FindObjectOfType<SoccerSettings>();
@@ -62,46 +55,20 @@ IEnumerator ShowGoalUI()
         if (goalTextUI) goalTextUI.SetActive(false);
     }
 
-    public void AllPlayersDone(float reward)
-    {
-        foreach (var ps in playerStates)
-        {
-            if (ps.agentScript.gameObject.activeInHierarchy)
-            {
-                if (reward != 0)
-                {
-                    ps.agentScript.AddReward(reward);
-                }
-                ps.agentScript.Done();
-            }
-        }
-    }
-
     public void GoalTouched(AgentSoccer.Team scoredTeam)
     {
         foreach (var ps in playerStates)
         {
             if (ps.agentScript.team == scoredTeam)
             {
-                RewardOrPunishPlayer(ps, m_SoccerSettings.strikerReward, m_SoccerSettings.goalieReward);
+                ps.agentScript.AddReward(1);
             }
             else
             {
-                RewardOrPunishPlayer(ps, m_SoccerSettings.strikerPunish, m_SoccerSettings.goaliePunish);
-            }
-            if (m_SoccerSettings.randomizePlayersTeamForTraining)
-            {
-                ps.agentScript.ChooseRandomTeam();
+                ps.agentScript.AddReward(-1);
             }
+            ps.agentScript.Done();  //all agents need to be reset
 
-            if (scoredTeam == AgentSoccer.Team.Purple)
-            {
-                StartCoroutine(GoalScoredSwapGroundMaterial(m_SoccerSettings.purpleMaterial, 1));
-            }
-            else
-            {
-                StartCoroutine(GoalScoredSwapGroundMaterial(m_SoccerSettings.blueMaterial, 1));
-            }
             if (goalTextUI)
             {
                 StartCoroutine(ShowGoalUI());
@@ -109,47 +76,11 @@ public void GoalTouched(AgentSoccer.Team scoredTeam)
         }
     }
 
-    public void RewardOrPunishPlayer(PlayerState ps, float striker, float goalie)
-    {
-        if (ps.agentScript.agentRole == AgentSoccer.AgentRole.Striker)
-        {
-            ps.agentScript.AddReward(striker);
-        }
-        if (ps.agentScript.agentRole == AgentSoccer.AgentRole.Goalie)
-        {
-            ps.agentScript.AddReward(goalie);
-        }
-        ps.agentScript.Done();  //all agents need to be reset
-    }
-
-    public Vector3 GetRandomSpawnPos(AgentSoccer.AgentRole role, AgentSoccer.Team team)
-    {
-        var xOffset = 0f;
-        if (role == AgentSoccer.AgentRole.Goalie)
-        {
-            xOffset = 13f;
-        }
-        if (role == AgentSoccer.AgentRole.Striker)
-        {
-            xOffset = 7f;
-        }
-        if (team == AgentSoccer.Team.Blue)
-        {
-            xOffset = xOffset * -1f;
-        }
-        var randomSpawnPos = ground.transform.position +
-            new Vector3(xOffset, 0f, 0f)
-            + (Random.insideUnitSphere * 2);
-        randomSpawnPos.y = ground.transform.position.y + 2;
-        return randomSpawnPos;
-    }
-
     public Vector3 GetBallSpawnPosition()
     {
         var randomSpawnPos = ground.transform.position +
-            new Vector3(0f, 0f, 0f)
-            + (Random.insideUnitSphere * 2);
-        randomSpawnPos.y = ground.transform.position.y + 2;
+            new Vector3(0f, 0f, 0f);
+        randomSpawnPos.y = ground.transform.position.y + .5f;
         return randomSpawnPos;
     }
 
diff --git a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerSettings.cs b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerSettings.cs
index f08f0bc3da..ab4ee0358d 100644
--- a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerSettings.cs
+++ b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerSettings.cs
@@ -5,11 +5,5 @@ public class SoccerSettings : MonoBehaviour
     public Material purpleMaterial;
     public Material blueMaterial;
     public bool randomizePlayersTeamForTraining = true;
-
     public float agentRunSpeed;
-
-    public float strikerPunish; //if opponents scores, the striker gets this neg reward (-1)
-    public float strikerReward; //if team scores a goal they get a reward (+1)
-    public float goaliePunish; //if opponents score, goalie gets this neg reward (-1)
-    public float goalieReward; //if team scores, goalie gets this reward (currently 0...no reward. can play with this later)
 }
diff --git a/Project/Assets/ML-Agents/Examples/Soccer/TFModels.meta b/Project/Assets/ML-Agents/Examples/Soccer/TFModels.meta
new file mode 100644
index 0000000000..ba46200362
--- /dev/null
+++ b/Project/Assets/ML-Agents/Examples/Soccer/TFModels.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: f1322978b914041748ae9def364eeef1
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Project/Assets/ML-Agents/Examples/Soccer/TFModels/Soccer.nn b/Project/Assets/ML-Agents/Examples/Soccer/TFModels/Soccer.nn
new file mode 100644
index 0000000000..2c5791383c
Binary files /dev/null and b/Project/Assets/ML-Agents/Examples/Soccer/TFModels/Soccer.nn differ
diff --git a/Project/Assets/ML-Agents/Examples/Soccer/TFModels/Soccer.nn.meta b/Project/Assets/ML-Agents/Examples/Soccer/TFModels/Soccer.nn.meta
new file mode 100644
index 0000000000..5eb7930498
--- /dev/null
+++ b/Project/Assets/ML-Agents/Examples/Soccer/TFModels/Soccer.nn.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 9d26b71f04a2d4680a68d8de4f6b62e9
+ScriptedImporter:
+  fileIDToRecycleName:
+    11400000: main obj
+    11400002: model data
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
+  script: {fileID: 11500000, guid: 19ed1486aa27d4903b34839f37b8f69f, type: 3}
diff --git a/Project/ProjectSettings/TagManager.asset b/Project/ProjectSettings/TagManager.asset
index 5087efedd4..02058173d9 100644
--- a/Project/ProjectSettings/TagManager.asset
+++ b/Project/ProjectSettings/TagManager.asset
@@ -39,11 +39,11 @@ TagManager:
   - 
   - 
   - invisible
-  - ball
-  - goalieWall
-  - goalie
-  - strikerWall
-  - striker
+  - 
+  - 
+  - 
+  - 
+  - 
   - 
   - 
   - 
diff --git a/com.unity.ml-agents/Runtime/Policy/BehaviorParameters.cs b/com.unity.ml-agents/Runtime/Policy/BehaviorParameters.cs
index e2619ef7f7..9e5f251cd5 100644
--- a/com.unity.ml-agents/Runtime/Policy/BehaviorParameters.cs
+++ b/com.unity.ml-agents/Runtime/Policy/BehaviorParameters.cs
@@ -37,7 +37,7 @@ private enum BehaviorType
         string m_BehaviorName = "My Behavior";
         [HideInInspector]
         [SerializeField]
-        int m_TeamID = 0;
+        public int m_TeamID = 0;
         [HideInInspector]
         [SerializeField]
         [Tooltip("Use all Sensor components attached to child GameObjects of this Agent.")]
diff --git a/config/trainer_config.yaml b/config/trainer_config.yaml
index 914c0a89ae..1e0a504cbd 100644
--- a/config/trainer_config.yaml
+++ b/config/trainer_config.yaml
@@ -68,32 +68,6 @@ BigWallJump:
     num_layers: 2
     normalize: false
 
-Striker:
-    max_steps: 5.0e6
-    learning_rate: 1e-3
-    batch_size: 128
-    num_epoch: 3
-    buffer_size: 2000
-    beta: 1.0e-2
-    hidden_units: 256
-    summary_freq: 20000
-    time_horizon: 128
-    num_layers: 2
-    normalize: false
-
-Goalie:
-    max_steps: 5.0e6
-    learning_rate: 1e-3
-    batch_size: 320
-    num_epoch: 3
-    buffer_size: 2000
-    beta: 1.0e-2
-    hidden_units: 256
-    summary_freq: 20000
-    time_horizon: 128
-    num_layers: 2
-    normalize: false
-
 Pyramids:
     summary_freq: 30000
     time_horizon: 128
@@ -155,9 +129,27 @@ VisualPyramids:
 
 Tennis:
     normalize: true
-    max_steps: 2e7
+    max_steps: 5.0e7
     learning_rate_schedule: constant
+    batch_size: 1024
+    buffer_size: 10240
     hidden_units: 256
+    time_horizon: 1000
+    self_play:
+        window: 10
+        play_against_current_self_ratio: 0.5
+        save_steps: 50000
+        swap_steps: 50000
+
+Soccer:
+    normalize: false
+    max_steps: 5.0e7
+    learning_rate_schedule: constant
+    batch_size: 2048
+    buffer_size: 20480
+    hidden_units: 512
+    time_horizon: 1000
+    num_layers: 2
     self_play:
         window: 10
         play_against_current_self_ratio: 0.5
diff --git a/docs/Learning-Environment-Examples.md b/docs/Learning-Environment-Examples.md
index 16658b34ff..af363755c7 100644
--- a/docs/Learning-Environment-Examples.md
+++ b/docs/Learning-Environment-Examples.md
@@ -101,36 +101,32 @@ If you would like to contribute environments, please see our
 
 ![Tennis](images/tennis.png)
 
-* Set-up: Two-player game where agents control rackets to bounce ball over a
+* Set-up: Two-player game where agents control rackets to hit a ball over the
   net.
-* Goal: The agents must bounce ball between one another while not dropping or
-  sending ball out of bounds.
+* Goal: The agents must hit the ball so that the opponent cannot hit a valid
+return.
 * Agents: The environment contains two agent with same Behavior Parameters.
  After training you can check the `Use Heuristic` checkbox on one of the Agents
  to play against your trained model.
 * Agent Reward Function (independent):
-  * +0.1 To agent when hitting ball over net.
-  * -0.1 To agent who let ball hit their ground, or hit ball out of bounds.
+  * +1.0 To the agent that wins the point. An agent wins a point by preventing
+   the opponent from hitting a valid return.
+  * -1.0 To the agent who loses the point.
 * Behavior Parameters:
-  * Vector Observation space: 8 variables corresponding to position and velocity
-    of ball and racket.
-  * Vector Action space: (Continuous) Size of 2, corresponding to movement
-    toward net or away from net, and jumping.
+  * Vector Observation space: 9 variables corresponding to position, velocity
+    and orientation of ball and racket.
+  * Vector Action space: (Continuous) Size of 3, corresponding to movement
+    toward net or away from net, jumping and rotation.
   * Visual Observations: None
 * Float Properties: Three
-    * angle: Angle of the racket from the vertical (Y) axis.
-      * Default: 55
-      * Recommended Minimum: 35
-      * Recommended Maximum: 65
     * gravity: Magnitude of gravity
       * Default: 9.81
       * Recommended Minimum: 6
       * Recommended Maximum: 20
     * scale: Specifies the scale of the ball in the 3 dimensions (equal across the three dimensions)
-      * Default: 1
+      * Default: .5
       * Recommended Minimum: 0.2
       * Recommended Maximum: 5
-* Benchmark Mean Reward: 2.5
 
 ## [Push Block](https://youtu.be/jKdw216ZgoE)
 
@@ -351,27 +347,21 @@ If you would like to contribute environments, please see our
 
 * Set-up: Environment where four agents compete in a 2 vs 2 toy soccer game.
 * Goal:
-  * Striker: Get the ball into the opponent's goal.
-  * Goalie: Prevent the ball from entering its own goal.
-* Agents: The environment contains four agents, with two different sets of
-  Behavior Parameters : Striker and Goalie.
+  * Get the ball into the opponent's goal while preventing
+  the ball from entering own goal.
+  * Goalie:
+* Agents: The environment contains four agents, with the same
+  Behavior Parameters : Soccer.
 * Agent Reward Function (dependent):
-  * Striker:
     * +1 When ball enters opponent's goal.
-    * -0.1 When ball enters own team's goal.
-    * -0.001 Existential penalty.
-  * Goalie:
     * -1 When ball enters team's goal.
-    * +0.1 When ball enters opponents goal.
-    * +0.001 Existential bonus.
+    * -0.001 Existential penalty.
 * Behavior Parameters:
-  * Vector Observation space: 112 corresponding to local 14 ray casts, each
-    detecting 7 possible object types, along with the object's distance.
-    Perception is in 180 degree view from front of agent.
-  * Vector Action space: (Discrete) One Branch
-    * Striker: 6 actions corresponding to forward, backward, sideways movement,
+  * Vector Observation space: 336 corresponding to 11 ray-casts forward distributed over 120 degrees (264)
+    and 3 ray-casts backward distributed over 90 degrees each detecting 6 possible object types, along with the object's distance.
+    The forward ray-casts contribute 264 state dimensions and backward 72 state dimensions.
+  * Vector Action space: (Discrete) Three branched actions corresponding to forward, backward, sideways movement,
       as well as rotation.
-    * Goalie: 4 actions corresponding to forward, backward, sideways movement.
   * Visual Observations: None
 * Float Properties: Two
   * ball_scale: Specifies the scale of the ball in the 3 dimensions (equal across the three dimensions)
@@ -382,8 +372,6 @@ If you would like to contribute environments, please see our
     * Default: 9.81
     * Recommended minimum: 6
     * Recommended maximum: 20
-* Benchmark Mean Reward (Striker & Goalie): 0 (the means will be inverse
-  of each other and criss crosses during training) __Note that our trainer is currently unable to consistently train this environment__
 
 ## Walker
 
diff --git a/docs/images/tennis.png b/docs/images/tennis.png
index 1a55f1448f..a16310c9a1 100644
Binary files a/docs/images/tennis.png and b/docs/images/tennis.png differ