diff --git a/DevProject/Packages/packages-lock.json b/DevProject/Packages/packages-lock.json
index 3ceb180eeb..c8f02170ac 100644
--- a/DevProject/Packages/packages-lock.json
+++ b/DevProject/Packages/packages-lock.json
@@ -31,7 +31,7 @@
       "url": "https://artifactory.prd.cds.internal.unity3d.com/artifactory/api/npm/upm-candidates"
     },
     "com.unity.barracuda": {
-      "version": "1.3.0-preview",
+      "version": "1.3.1-preview",
       "depth": 1,
       "source": "registry",
       "dependencies": {
@@ -108,7 +108,7 @@
       "depth": 0,
       "source": "local",
       "dependencies": {
-        "com.unity.barracuda": "1.3.0-preview",
+        "com.unity.barracuda": "1.3.1-preview",
         "com.unity.modules.imageconversion": "1.0.0",
         "com.unity.modules.jsonserialize": "1.0.0",
         "com.unity.modules.physics": "1.0.0",
@@ -121,7 +121,7 @@
       "depth": 0,
       "source": "local",
       "dependencies": {
-        "com.unity.ml-agents": "1.7.2-preview"
+        "com.unity.ml-agents": "1.8.0-preview"
       }
     },
     "com.unity.multiplayer-hlapi": {
diff --git a/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/ButtonInputActionAdaptor.cs b/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/ButtonInputActionAdaptor.cs
index 46cc297ae7..e2edd19d86 100644
--- a/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/ButtonInputActionAdaptor.cs
+++ b/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/ButtonInputActionAdaptor.cs
@@ -2,6 +2,7 @@
 using Unity.MLAgents.Actuators;
 using UnityEngine;
 using UnityEngine.InputSystem;
+using UnityEngine.InputSystem.Controls;
 using UnityEngine.InputSystem.LowLevel;
 
 namespace Unity.MLAgents.Extensions.Input
@@ -26,11 +27,11 @@ public ActionSpec GetActionSpecForInputAction(InputAction action)
         }
 
         /// TODO again this might need to be more nuanced for things like continuous buttons.
-        /// <inheritdoc cref="IRLActionInputAdaptor.QueueInputEventForAction"/>
-        public void QueueInputEventForAction(InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers)
+        /// <inheritdoc cref="IRLActionInputAdaptor.WriteToInputEventForAction"/>
+        public void WriteToInputEventForAction(InputEventPtr eventPtr, InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers)
         {
             var val = actionBuffers.DiscreteActions[0];
-            InputSystem.QueueDeltaStateEvent(control, (byte)val);
+            ((ButtonControl)control).WriteValueIntoEvent((float)val, eventPtr);
         }
 
         /// <inheritdoc cref="IRLActionInputAdaptor.WriteToHeuristic"/>>
diff --git a/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/DoubleInputActionAdaptor.cs b/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/DoubleInputActionAdaptor.cs
index 9b2f58e74a..7fd143b570 100644
--- a/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/DoubleInputActionAdaptor.cs
+++ b/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/DoubleInputActionAdaptor.cs
@@ -1,6 +1,7 @@
 #if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
 using Unity.MLAgents.Actuators;
 using UnityEngine.InputSystem;
+using UnityEngine.InputSystem.Controls;
 using UnityEngine.InputSystem.LowLevel;
 
 namespace Unity.MLAgents.Extensions.Input
@@ -16,11 +17,11 @@ public ActionSpec GetActionSpecForInputAction(InputAction action)
             return ActionSpec.MakeContinuous(1);
         }
 
-        /// <inheritdoc cref="IRLActionInputAdaptor.QueueInputEventForAction"/>
-        public void QueueInputEventForAction(InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers)
+        /// <inheritdoc cref="IRLActionInputAdaptor.WriteToInputEventForAction"/>
+        public void WriteToInputEventForAction(InputEventPtr eventPtr, InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers)
         {
             var val = actionBuffers.ContinuousActions[0];
-            InputSystem.QueueDeltaStateEvent(control,(double)val);
+            ((DoubleControl)control).WriteValueIntoEvent((double)val, eventPtr);
         }
 
         /// <inheritdoc cref="IRLActionInputAdaptor.WriteToHeuristic"/>
diff --git a/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/FloatInputActionAdaptor.cs b/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/FloatInputActionAdaptor.cs
index c39960cb12..ea77bb5413 100644
--- a/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/FloatInputActionAdaptor.cs
+++ b/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/FloatInputActionAdaptor.cs
@@ -16,11 +16,11 @@ public ActionSpec GetActionSpecForInputAction(InputAction action)
             return ActionSpec.MakeContinuous(1);
         }
 
-        /// <inheritdoc cref="IRLActionInputAdaptor.QueueInputEventForAction"/>
-        public void QueueInputEventForAction(InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers)
+        /// <inheritdoc cref="IRLActionInputAdaptor.WriteToInputEventForAction"/>
+        public void WriteToInputEventForAction(InputEventPtr eventPtr, InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers)
         {
             var val = actionBuffers.ContinuousActions[0];
-            InputSystem.QueueDeltaStateEvent(control, val);
+            control.WriteValueIntoEvent(val, eventPtr);
         }
 
         /// <inheritdoc cref="IRLActionInputAdaptor.WriteToHeuristic"/>
diff --git a/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/IntegerInputActionAdaptor.cs b/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/IntegerInputActionAdaptor.cs
index a7501aa987..bd920ab169 100644
--- a/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/IntegerInputActionAdaptor.cs
+++ b/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/IntegerInputActionAdaptor.cs
@@ -17,11 +17,11 @@ public ActionSpec GetActionSpecForInputAction(InputAction action)
             return ActionSpec.MakeDiscrete(2);
         }
 
-        /// <inheritdoc cref="IRLActionInputAdaptor.QueueInputEventForAction"/>
-        public void QueueInputEventForAction(InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers)
+        /// <inheritdoc cref="IRLActionInputAdaptor.WriteToInputEventForAction"/>
+        public void WriteToInputEventForAction(InputEventPtr eventPtr, InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers)
         {
             var val = actionBuffers.DiscreteActions[0];
-            InputSystem.QueueDeltaStateEvent(control, val);
+            control.WriteValueIntoEvent(val, eventPtr);
         }
 
         /// <inheritdoc cref="IRLActionInputAdaptor.WriteToHeuristic"/>
diff --git a/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/Vector2InputActionAdaptor.cs b/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/Vector2InputActionAdaptor.cs
index 9c3e4b2620..95e7ed7124 100644
--- a/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/Vector2InputActionAdaptor.cs
+++ b/com.unity.ml-agents.extensions/Runtime/Input/Adaptors/Vector2InputActionAdaptor.cs
@@ -3,6 +3,7 @@
 using Unity.MLAgents.Actuators;
 using UnityEngine;
 using UnityEngine.InputSystem;
+using UnityEngine.InputSystem.Controls;
 using UnityEngine.InputSystem.LowLevel;
 
 namespace Unity.MLAgents.Extensions.Input
@@ -19,15 +20,15 @@ public ActionSpec GetActionSpecForInputAction(InputAction action)
             return ActionSpec.MakeContinuous(2);
         }
 
-        /// <inheritdoc cref="IRLActionInputAdaptor.QueueInputEventForAction"/>
-        public void QueueInputEventForAction(InputAction action,
+        /// <inheritdoc cref="IRLActionInputAdaptor.WriteToInputEventForAction"/>
+        public void WriteToInputEventForAction(InputEventPtr eventPtr, InputAction action,
             InputControl control,
             ActionSpec actionSpec,
             in ActionBuffers actionBuffers)
         {
             var x = actionBuffers.ContinuousActions[0];
             var y = actionBuffers.ContinuousActions[1];
-            InputSystem.QueueDeltaStateEvent(control, new Vector2(x, y));
+            control.WriteValueIntoEvent(new Vector2(x, y), eventPtr);
         }
 
         /// <inheritdoc cref="IRLActionInputAdaptor.WriteToHeuristic"/>
diff --git a/com.unity.ml-agents.extensions/Runtime/Input/IRLActionInputAdaptor.cs b/com.unity.ml-agents.extensions/Runtime/Input/IRLActionInputAdaptor.cs
index 173db482ae..d61aaa8f3b 100644
--- a/com.unity.ml-agents.extensions/Runtime/Input/IRLActionInputAdaptor.cs
+++ b/com.unity.ml-agents.extensions/Runtime/Input/IRLActionInputAdaptor.cs
@@ -2,6 +2,7 @@
 using System;
 using Unity.MLAgents.Actuators;
 using UnityEngine.InputSystem;
+using UnityEngine.InputSystem.LowLevel;
 
 namespace Unity.MLAgents.Extensions.Input
 {
@@ -22,11 +23,12 @@ public interface IRLActionInputAdaptor
         /// <summary>
         /// Translates data from the <see cref="ActionBuffers"/> object to the <see cref="InputSystem"/>.
         /// </summary>
+        /// <param name="eventPtr">The Event pointer to write to.</param>
         /// <param name="action">The action associated with this adaptor.</param>
         /// <param name="control">The control which will write the event to the <see cref="InputSystem"/>.</param>
         /// <param name="actionSpec">The <see cref="ActionSpec"/> associated with this action and adaptor pair.</param>
         /// <param name="actionBuffers">The <see cref="ActionBuffers"/> object to read from.</param>
-        void QueueInputEventForAction(InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers);
+        void WriteToInputEventForAction(InputEventPtr eventPtr, InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers);
 
         /// <summary>
         /// Writes data from the <paramref name="action"/> to the <paramref name="actionBuffers"/>.
diff --git a/com.unity.ml-agents.extensions/Runtime/Input/InputActionActuator.cs b/com.unity.ml-agents.extensions/Runtime/Input/InputActionActuator.cs
index 9b9cea1dba..0050bf9cca 100644
--- a/com.unity.ml-agents.extensions/Runtime/Input/InputActionActuator.cs
+++ b/com.unity.ml-agents.extensions/Runtime/Input/InputActionActuator.cs
@@ -19,6 +19,7 @@ public class InputActionActuator : IActuator, IHeuristicProvider, IBuiltInActuat
         readonly BehaviorParameters m_BehaviorParameters;
         readonly InputAction m_Action;
         readonly IRLActionInputAdaptor m_InputAdaptor;
+        InputActuatorEventContext m_InputActuatorEventContext;
         InputDevice m_Device;
         InputControl m_Control;
 
@@ -34,14 +35,17 @@ public class InputActionActuator : IActuator, IHeuristicProvider, IBuiltInActuat
         ///     via the <see cref="IRLActionInputAdaptor"/>.</param>
         /// <param name="adaptor">The <see cref="IRLActionInputAdaptor"/> that will convert data between ML-Agents
         ///     and the <see cref="InputSystem"/>.</param>
+        /// <param name="inputActuatorEventContext">The object that will provide the event ptr to write to.</param>
         public InputActionActuator(InputDevice inputDevice, BehaviorParameters behaviorParameters,
                                    InputAction action,
-                                   IRLActionInputAdaptor adaptor)
+                                   IRLActionInputAdaptor adaptor,
+                                   InputActuatorEventContext inputActuatorEventContext)
         {
             m_BehaviorParameters = behaviorParameters;
             Name = $"InputActionActuator-{action.name}";
             m_Action = action;
             m_InputAdaptor = adaptor;
+            m_InputActuatorEventContext = inputActuatorEventContext;
             ActionSpec = adaptor.GetActionSpecForInputAction(m_Action);
             m_Device = inputDevice;
             m_Control = m_Device?.GetChildControl(m_Action.name);
@@ -53,7 +57,11 @@ public void OnActionReceived(ActionBuffers actionBuffers)
             Profiler.BeginSample("InputActionActuator.OnActionReceived");
             if (!m_BehaviorParameters.IsInHeuristicMode())
             {
-                m_InputAdaptor.QueueInputEventForAction(m_Action, m_Control, ActionSpec, actionBuffers);
+                using (m_InputActuatorEventContext.GetEventForFrame(out var eventPtr))
+                {
+                    m_InputAdaptor.WriteToInputEventForAction(eventPtr, m_Action, m_Control, ActionSpec, actionBuffers);
+                }
+
             }
             Profiler.EndSample();
         }
diff --git a/com.unity.ml-agents.extensions/Runtime/Input/InputActuatorComponent.cs b/com.unity.ml-agents.extensions/Runtime/Input/InputActuatorComponent.cs
index c3fed4974c..665d6844f9 100644
--- a/com.unity.ml-agents.extensions/Runtime/Input/InputActuatorComponent.cs
+++ b/com.unity.ml-agents.extensions/Runtime/Input/InputActuatorComponent.cs
@@ -1,12 +1,14 @@
 #if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
 using System;
 using System.Collections.Generic;
+using Unity.Collections;
 using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Policies;
 using UnityEngine;
 using UnityEngine.Assertions;
 using UnityEngine.InputSystem;
 using UnityEngine.InputSystem.Controls;
+using UnityEngine.InputSystem.LowLevel;
 using UnityEngine.InputSystem.Layouts;
 using UnityEngine.InputSystem.Utilities;
 #if UNITY_EDITOR
@@ -57,9 +59,18 @@ public override ActionSpec ActionSpec
             get
             {
 #if UNITY_EDITOR
-                FindNeededComponents();
-                var actuators = CreateActuatorsFromMap(m_InputAsset.FindActionMap(m_PlayerInput.defaultActionMap), m_BehaviorParameters, null);
-                m_ActionSpec = CombineActuatorActionSpecs(actuators);
+                if (!EditorApplication.isPlaying && m_ActionSpec.NumContinuousActions == 0
+                    && m_ActionSpec.BranchSizes == null
+                    || m_ActionSpec.BranchSizes.Length == 0)
+                {
+                    FindNeededComponents();
+                    var actuators = CreateActuatorsFromMap(m_InputAsset.FindActionMap(m_PlayerInput.defaultActionMap),
+                        m_BehaviorParameters,
+                        null,
+                        InputActuatorEventContext.s_EditorContext);
+                    m_ActionSpec = CombineActuatorActionSpecs(actuators);
+
+                }
 #endif
                 return m_ActionSpec;
             }
@@ -119,7 +130,8 @@ public override IActuator[] CreateActuators()
             RegisterLayoutBuilder(inputActionMap, m_LayoutName);
             m_Device = InputSystem.AddDevice(m_LayoutName);
 
-            m_Actuators = CreateActuatorsFromMap(inputActionMap, m_BehaviorParameters, m_Device);
+            var context = new InputActuatorEventContext(inputActionMap.actions.Count, m_Device);
+            m_Actuators = CreateActuatorsFromMap(inputActionMap, m_BehaviorParameters, m_Device, context);
 
             UpdateDeviceBinding(m_BehaviorParameters.IsInHeuristicMode());
             inputActionMap.Enable();
@@ -141,7 +153,8 @@ static ActionSpec CombineActuatorActionSpecs(IActuator[] actuators)
 
         internal static IActuator[] CreateActuatorsFromMap(InputActionMap inputActionMap,
             BehaviorParameters behaviorParameters,
-            InputDevice inputDevice)
+            InputDevice inputDevice,
+            InputActuatorEventContext context)
         {
             var actuators = new IActuator[inputActionMap.actions.Count];
             for (var i = 0; i < inputActionMap.actions.Count; i++)
@@ -149,7 +162,7 @@ internal static IActuator[] CreateActuatorsFromMap(InputActionMap inputActionMap
                 var action = inputActionMap.actions[i];
                 var actionLayout = InputSystem.LoadLayout(action.expectedControlType);
                 var adaptor = (IRLActionInputAdaptor)Activator.CreateInstance(controlTypeToAdaptorType[actionLayout.type]);
-                actuators[i] = new InputActionActuator(inputDevice, behaviorParameters, action, adaptor);
+                actuators[i] = new InputActionActuator(inputDevice, behaviorParameters, action, adaptor, context);
 
                 // Reasonably, the input system starts adding numbers after the first none numbered name
                 // is added.  So for device ID of 0, we use the empty string in the path.
@@ -158,6 +171,7 @@ internal static IActuator[] CreateActuatorsFromMap(InputActionMap inputActionMap
                     action.interactions,
                     action.processors,
                     mlAgentsControlSchemeName);
+                action.bindingMask = InputBinding.MaskByGroup(mlAgentsControlSchemeName);
             }
             return actuators;
         }
@@ -326,6 +340,43 @@ internal void CleanupActionAsset()
             m_BehaviorParameters = null;
             m_Device = null;
         }
+
+        int m_ActuatorsWrittenToEvent;
+        NativeArray<byte> m_InputBufferForFrame;
+        InputEventPtr m_InputEventPtrForFrame;
+        public InputEventPtr GetEventForFrame()
+        {
+#if UNITY_EDITOR
+            if (!EditorApplication.isPlaying)
+            {
+                return new InputEventPtr();
+            }
+#endif
+            if (m_ActuatorsWrittenToEvent % m_Actuators.Length == 0 || !m_InputEventPtrForFrame.valid)
+            {
+                m_ActuatorsWrittenToEvent = 0;
+                m_InputEventPtrForFrame = new InputEventPtr();
+                m_InputBufferForFrame = StateEvent.From(m_Device, out m_InputEventPtrForFrame);
+            }
+
+            return m_InputEventPtrForFrame;
+        }
+
+        public void EventProcessedInFrame()
+        {
+#if UNITY_EDITOR
+            if (!EditorApplication.isPlaying)
+            {
+                return;
+            }
+#endif
+            m_ActuatorsWrittenToEvent++;
+            if (m_ActuatorsWrittenToEvent == m_Actuators.Length && m_InputEventPtrForFrame.valid)
+            {
+                InputSystem.QueueEvent(m_InputEventPtrForFrame);
+                m_InputBufferForFrame.Dispose();
+            }
+        }
     }
 }
 #endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
diff --git a/com.unity.ml-agents.extensions/Runtime/Input/InputActuatorEventContext.cs b/com.unity.ml-agents.extensions/Runtime/Input/InputActuatorEventContext.cs
new file mode 100644
index 0000000000..de8463fd18
--- /dev/null
+++ b/com.unity.ml-agents.extensions/Runtime/Input/InputActuatorEventContext.cs
@@ -0,0 +1,81 @@
+#if MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
+using System;
+using Unity.Collections;
+using UnityEngine.InputSystem;
+using UnityEngine.InputSystem.LowLevel;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+namespace Unity.MLAgents.Extensions.Input
+{
+    /// <summary>
+    /// This interface is passed to InputActionActuators to allow them to write to InputEvents.
+    /// The way this interface should be used is to request the <see cref="InputEventPtr"/> by calling
+    /// <see cref="GetEventForFrame"/> then call <see cref="EventProcessedInFrame"/> before returning from
+    /// </summary>
+    public class InputActuatorEventContext : IDisposable
+    {
+
+        /// <summary>
+        /// The number of times to allow the use of an event before queuing it in the InputSystem.
+        /// </summary>
+        public readonly int NumTimesToProcess;
+        public readonly InputDevice InputDevice;
+        NativeArray<byte> m_EventBuffer;
+        InputEventPtr m_Ptr;
+        int m_Count;
+
+#if UNITY_EDITOR
+        public static InputActuatorEventContext s_EditorContext = new InputActuatorEventContext();
+#endif
+
+        public InputActuatorEventContext(int numTimesToProcess = 1, InputDevice device = null)
+        {
+            NumTimesToProcess = numTimesToProcess;
+            InputDevice = device;
+            m_Count = 0;
+            m_Ptr = new InputEventPtr();
+            m_EventBuffer = new NativeArray<byte>();
+        }
+
+        /// <summary>
+        /// Returns the <see cref="InputEventPtr"/> to write to for the current frame.
+        /// </summary>
+        /// <returns>The <see cref="InputEventPtr"/> to write to for the current frame.</returns>
+        public IDisposable GetEventForFrame(out InputEventPtr eventPtr)
+        {
+#if UNITY_EDITOR
+            if (!EditorApplication.isPlaying)
+            {
+                eventPtr = new InputEventPtr();
+            }
+#endif
+            if (m_Count % NumTimesToProcess == 0)
+            {
+                m_Count = 0;
+                m_EventBuffer = StateEvent.From(InputDevice, out m_Ptr);
+            }
+            eventPtr = m_Ptr;
+            return this;
+        }
+
+        public void Dispose()
+        {
+#if UNITY_EDITOR
+            if (!EditorApplication.isPlaying)
+            {
+                return;
+            }
+#endif
+            m_Count++;
+            if (m_Count == NumTimesToProcess && m_Ptr.valid)
+            {
+                InputSystem.QueueEvent(m_Ptr);
+                m_EventBuffer.Dispose();
+            }
+
+        }
+    }
+}
+#endif // MLA_INPUT_SYSTEM && UNITY_2019_4_OR_NEWER
diff --git a/com.unity.ml-agents.extensions/Runtime/Input/InputActuatorEventContext.cs.meta b/com.unity.ml-agents.extensions/Runtime/Input/InputActuatorEventContext.cs.meta
new file mode 100644
index 0000000000..bc7c18aeab
--- /dev/null
+++ b/com.unity.ml-agents.extensions/Runtime/Input/InputActuatorEventContext.cs.meta
@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 76c31df314114ec6bf104e8db4e5568b
+timeCreated: 1614892215
\ No newline at end of file
diff --git a/com.unity.ml-agents.extensions/Runtime/Input/Unity.ML-Agents.Extensions.Input.asmdef b/com.unity.ml-agents.extensions/Runtime/Input/Unity.ML-Agents.Extensions.Input.asmdef
index c1cdc58563..ccc3b6bf91 100644
--- a/com.unity.ml-agents.extensions/Runtime/Input/Unity.ML-Agents.Extensions.Input.asmdef
+++ b/com.unity.ml-agents.extensions/Runtime/Input/Unity.ML-Agents.Extensions.Input.asmdef
@@ -15,9 +15,9 @@
     "versionDefines": [
         {
             "name": "com.unity.inputsystem",
-            "expression": "1.1.0-preview",
+            "expression": "1.1.0-preview.3",
             "define": "MLA_INPUT_SYSTEM"
         }
     ],
     "noEngineReferences": false
-}
+}
\ No newline at end of file
diff --git a/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/ButtonInputActionAdaptorTests.cs b/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/ButtonInputActionAdaptorTests.cs
index d2a613f389..26378f170b 100644
--- a/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/ButtonInputActionAdaptorTests.cs
+++ b/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/ButtonInputActionAdaptorTests.cs
@@ -51,7 +51,11 @@ public void TestGenerateActionSpec()
         public void TestQueueEvent()
         {
             var actionBuffers = new ActionBuffers(ActionSegment<float>.Empty, new ActionSegment<int>(new[] { 1 }));
-            m_Adaptor.QueueInputEventForAction(m_Action, m_Control, new ActionSpec(), actionBuffers);
+            var context = new InputActuatorEventContext(1, m_Device);
+            using (context.GetEventForFrame(out var eventPtr))
+            {
+                m_Adaptor.WriteToInputEventForAction(eventPtr, m_Action, m_Control, new ActionSpec(), actionBuffers);
+            }
             InputSystem.Update();
             var val = m_Action.ReadValue<float>();
             Assert.IsTrue(Mathf.Approximately(1f, val));
@@ -61,7 +65,11 @@ public void TestQueueEvent()
         public void TestWriteToHeuristic()
         {
             var actionBuffers = new ActionBuffers(ActionSegment<float>.Empty, new ActionSegment<int>(new[] { 1 }));
-            m_Adaptor.QueueInputEventForAction(m_Action, m_Control, new ActionSpec(), actionBuffers);
+            var context = new InputActuatorEventContext(1, m_Device);
+            using (context.GetEventForFrame(out var eventPtr))
+            {
+                m_Adaptor.WriteToInputEventForAction(eventPtr, m_Action, m_Control, new ActionSpec(), actionBuffers);
+            }
             InputSystem.Update();
             var buffer = new ActionBuffers(ActionSegment<float>.Empty, new ActionSegment<int>(new[] { 1 }));
             m_Adaptor.WriteToHeuristic(m_Action, buffer);
diff --git a/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/DoubleInputActionAdaptorTests.cs b/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/DoubleInputActionAdaptorTests.cs
index 4f52a075d3..8beeb08727 100644
--- a/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/DoubleInputActionAdaptorTests.cs
+++ b/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/DoubleInputActionAdaptorTests.cs
@@ -50,7 +50,11 @@ public void TestGenerateActionSpec()
         public void TestQueueEvent()
         {
             var actionBuffers = new ActionBuffers(new ActionSegment<float>(new[] { 1f }), ActionSegment<int>.Empty);
-            m_Adaptor.QueueInputEventForAction(m_Action, m_Control, new ActionSpec(), actionBuffers);
+            var context = new InputActuatorEventContext(1, m_Device);
+            using (context.GetEventForFrame(out var eventPtr))
+            {
+                m_Adaptor.WriteToInputEventForAction(eventPtr, m_Action, m_Control, new ActionSpec(), actionBuffers);
+            }
             InputSystem.Update();
             Assert.IsTrue(Mathf.Approximately(1f, (float)m_Action.ReadValue<double>()));
         }
@@ -59,7 +63,11 @@ public void TestQueueEvent()
         public void TestWriteToHeuristic()
         {
             var actionBuffers = new ActionBuffers(new ActionSegment<float>(new[] { 1f }), ActionSegment<int>.Empty);
-            m_Adaptor.QueueInputEventForAction(m_Action, m_Control, new ActionSpec(), actionBuffers);
+            var context = new InputActuatorEventContext(1, m_Device);
+            using (context.GetEventForFrame(out var eventPtr))
+            {
+                m_Adaptor.WriteToInputEventForAction(eventPtr, m_Action, m_Control, new ActionSpec(), actionBuffers);
+            }
             InputSystem.Update();
             var buffer = new ActionBuffers(new ActionSegment<float>(new[] { 1f }), ActionSegment<int>.Empty);
             m_Adaptor.WriteToHeuristic(m_Action, buffer);
diff --git a/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/FloatInputActionAdapatorTests.cs b/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/FloatInputActionAdapatorTests.cs
index 04ef1ea09d..7b6cb400e0 100644
--- a/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/FloatInputActionAdapatorTests.cs
+++ b/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/FloatInputActionAdapatorTests.cs
@@ -50,7 +50,11 @@ public void TestGenerateActionSpec()
         public void TestQueueEvent()
         {
             var actionBuffers = new ActionBuffers(new ActionSegment<float>(new[] { 1f }), ActionSegment<int>.Empty);
-            m_Adaptor.QueueInputEventForAction(m_Action, m_Control, new ActionSpec(), actionBuffers);
+            var context = new InputActuatorEventContext(1, m_Device);
+            using (context.GetEventForFrame(out var eventPtr))
+            {
+                m_Adaptor.WriteToInputEventForAction(eventPtr, m_Action, m_Control, new ActionSpec(), actionBuffers);
+            }
             InputSystem.Update();
             var val = m_Action.ReadValue<float>();
             Assert.IsTrue(Mathf.Approximately(1f, val));
@@ -60,7 +64,11 @@ public void TestQueueEvent()
         public void TestWriteToHeuristic()
         {
             var actionBuffers = new ActionBuffers(new ActionSegment<float>(new[] { 1f }), ActionSegment<int>.Empty);
-            m_Adaptor.QueueInputEventForAction(m_Action, m_Control, new ActionSpec(), actionBuffers);
+            var context = new InputActuatorEventContext(1, m_Device);
+            using (context.GetEventForFrame(out var eventPtr))
+            {
+                m_Adaptor.WriteToInputEventForAction(eventPtr, m_Action, m_Control, new ActionSpec(), actionBuffers);
+            }
             InputSystem.Update();
             var buffer = new ActionBuffers(new ActionSegment<float>(new[] { 1f }), ActionSegment<int>.Empty);
             m_Adaptor.WriteToHeuristic(m_Action, buffer);
diff --git a/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/IntegerInputActionAdaptorTests.cs b/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/IntegerInputActionAdaptorTests.cs
index 3655bc31d0..905586aeb9 100644
--- a/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/IntegerInputActionAdaptorTests.cs
+++ b/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/IntegerInputActionAdaptorTests.cs
@@ -52,7 +52,11 @@ public void TestGenerateActionSpec()
         public void TestQueueEvent()
         {
             var actionBuffers = new ActionBuffers(ActionSegment<float>.Empty, new ActionSegment<int>(new[] { 1 }));
-            m_Adaptor.QueueInputEventForAction(m_Action, m_Control, new ActionSpec(), actionBuffers);
+            var context = new InputActuatorEventContext(1, m_Device);
+            using (context.GetEventForFrame(out var eventPtr))
+            {
+                m_Adaptor.WriteToInputEventForAction(eventPtr, m_Action, m_Control, new ActionSpec(), actionBuffers);
+            }
             InputSystem.Update();
             var val = m_Action.ReadValue<int>();
             Assert.IsTrue(val == 1);
@@ -62,7 +66,11 @@ public void TestQueueEvent()
         public void TestWriteToHeuristic()
         {
             var actionBuffers = new ActionBuffers(ActionSegment<float>.Empty, new ActionSegment<int>(new[] { 1 }));
-            m_Adaptor.QueueInputEventForAction(m_Action, m_Control, new ActionSpec(), actionBuffers);
+            var context = new InputActuatorEventContext(1, m_Device);
+            using (context.GetEventForFrame(out var eventPtr))
+            {
+                m_Adaptor.WriteToInputEventForAction(eventPtr, m_Action, m_Control, new ActionSpec(), actionBuffers);
+            }
             InputSystem.Update();
             var buffer = new ActionBuffers(ActionSegment<float>.Empty, new ActionSegment<int>(new int[1]));
             m_Adaptor.WriteToHeuristic(m_Action, buffer);
diff --git a/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/Vector2InputActionAdaptorTests.cs b/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/Vector2InputActionAdaptorTests.cs
index e699c2da96..6002312512 100644
--- a/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/Vector2InputActionAdaptorTests.cs
+++ b/com.unity.ml-agents.extensions/Tests/Runtime/Input/Adaptors/Vector2InputActionAdaptorTests.cs
@@ -50,7 +50,11 @@ public void TestGenerateActionSpec()
         public void TestQueueEvent()
         {
             var actionBuffers = new ActionBuffers(new ActionSegment<float>(new[] { 0f, 1f }), ActionSegment<int>.Empty);
-            m_Adaptor.QueueInputEventForAction(m_Action, m_Control, new ActionSpec(), actionBuffers);
+            var context = new InputActuatorEventContext(1, m_Device);
+            using (context.GetEventForFrame(out var eventPtr))
+            {
+                m_Adaptor.WriteToInputEventForAction(eventPtr, m_Action, m_Control, new ActionSpec(), actionBuffers);
+            }
             InputSystem.Update();
             var val = m_Action.ReadValue<Vector2>();
             Assert.IsTrue(Mathf.Approximately(0f, val.x));
@@ -61,7 +65,11 @@ public void TestQueueEvent()
         public void TestWriteToHeuristic()
         {
             var actionBuffers = new ActionBuffers(new ActionSegment<float>(new[] { 0f, 1f }), ActionSegment<int>.Empty);
-            m_Adaptor.QueueInputEventForAction(m_Action, m_Control, new ActionSpec(), actionBuffers);
+            var context = new InputActuatorEventContext(1, m_Device);
+            using (context.GetEventForFrame(out var eventPtr))
+            {
+                m_Adaptor.WriteToInputEventForAction(eventPtr, m_Action, m_Control, new ActionSpec(), actionBuffers);
+            }
             InputSystem.Update();
             var buffer = new ActionBuffers(new ActionSegment<float>(new float[2]), ActionSegment<int>.Empty);
             m_Adaptor.WriteToHeuristic(m_Action, buffer);
diff --git a/com.unity.ml-agents.extensions/Tests/Runtime/Input/InputActionActuatorTests.cs b/com.unity.ml-agents.extensions/Tests/Runtime/Input/InputActionActuatorTests.cs
index d5f2f15ce4..514bc48df2 100644
--- a/com.unity.ml-agents.extensions/Tests/Runtime/Input/InputActionActuatorTests.cs
+++ b/com.unity.ml-agents.extensions/Tests/Runtime/Input/InputActionActuatorTests.cs
@@ -6,12 +6,13 @@
 using Unity.MLAgents.Policies;
 using UnityEngine;
 using UnityEngine.InputSystem;
+using UnityEngine.InputSystem.LowLevel;
 
 namespace Unity.MLAgents.Extensions.Tests.Runtime.Input
 {
     class TestAdaptor : IRLActionInputAdaptor
     {
-        public bool eventQueued;
+        public bool eventWritten;
         public bool writtenToHeuristic;
 
         public ActionSpec GetActionSpecForInputAction(InputAction action)
@@ -19,9 +20,9 @@ public ActionSpec GetActionSpecForInputAction(InputAction action)
             return ActionSpec.MakeContinuous(1);
         }
 
-        public void QueueInputEventForAction(InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers)
+        public void WriteToInputEventForAction(InputEventPtr eventPtr, InputAction action, InputControl control, ActionSpec actionSpec, in ActionBuffers actionBuffers)
         {
-            eventQueued = true;
+            eventWritten = true;
         }
 
         public void WriteToHeuristic(InputAction action, in ActionBuffers actionBuffers)
@@ -31,7 +32,7 @@ public void WriteToHeuristic(InputAction action, in ActionBuffers actionBuffers)
 
         public void Reset()
         {
-            eventQueued = false;
+            eventWritten = false;
             writtenToHeuristic = false;
         }
     }
@@ -50,7 +51,7 @@ public void Setup()
             m_BehaviorParameters = go.AddComponent<BehaviorParameters>();
             var action = new InputAction("action");
             m_Adaptor = new TestAdaptor();
-            m_Actuator = new InputActionActuator(null, m_BehaviorParameters, action, m_Adaptor);
+            m_Actuator = new InputActionActuator(null, m_BehaviorParameters, action, m_Adaptor, new InputActuatorEventContext(1, InputSystem.AddDevice<Gamepad>()));
         }
 
         [Test]
@@ -59,18 +60,18 @@ public void TestOnActionReceived()
             m_BehaviorParameters.BehaviorType = BehaviorType.HeuristicOnly;
             m_Actuator.OnActionReceived(new ActionBuffers());
             m_Actuator.Heuristic(new ActionBuffers());
-            Assert.IsFalse(m_Adaptor.eventQueued);
+            Assert.IsFalse(m_Adaptor.eventWritten);
             Assert.IsTrue(m_Adaptor.writtenToHeuristic);
             m_Adaptor.Reset();
 
             m_BehaviorParameters.BehaviorType = BehaviorType.Default;
             m_Actuator.OnActionReceived(new ActionBuffers());
-            Assert.IsFalse(m_Adaptor.eventQueued);
+            Assert.IsFalse(m_Adaptor.eventWritten);
             m_Adaptor.Reset();
 
             m_BehaviorParameters.Model = ScriptableObject.CreateInstance<NNModel>();
             m_Actuator.OnActionReceived(new ActionBuffers());
-            Assert.IsTrue(m_Adaptor.eventQueued);
+            Assert.IsTrue(m_Adaptor.eventWritten);
             m_Adaptor.Reset();
 
             Assert.AreEqual(m_Actuator.Name, "InputActionActuator-action");
diff --git a/com.unity.ml-agents.extensions/Tests/Runtime/Input/InputActuatorComponentTests.cs b/com.unity.ml-agents.extensions/Tests/Runtime/Input/InputActuatorComponentTests.cs
index 459a4ba61c..35bc52254f 100644
--- a/com.unity.ml-agents.extensions/Tests/Runtime/Input/InputActuatorComponentTests.cs
+++ b/com.unity.ml-agents.extensions/Tests/Runtime/Input/InputActuatorComponentTests.cs
@@ -81,7 +81,7 @@ public void InputActuatorComponentTestGenerateActuatorsFromAsset()
 
             var device = InputSystem.AddDevice("TestLayout");
 
-            var actuators = InputActuatorComponent.CreateActuatorsFromMap(inputActionMap, m_BehaviorParameters, device);
+            var actuators = InputActuatorComponent.CreateActuatorsFromMap(inputActionMap, m_BehaviorParameters, device, new InputActuatorEventContext());
             Assert.IsTrue(actuators.Length == 2);
             Assert.IsTrue(actuators[0].ActionSpec.Equals(ActionSpec.MakeContinuous(2)));
             Assert.IsTrue(actuators[1].ActionSpec.NumDiscreteActions == 1);
diff --git a/com.unity.ml-agents.extensions/Tests/Runtime/Input/Unity.ML-Agents.Extensions.Input.Tests.Runtime.asmdef b/com.unity.ml-agents.extensions/Tests/Runtime/Input/Unity.ML-Agents.Extensions.Input.Tests.Runtime.asmdef
index 40056f274b..f028c5ff7c 100644
--- a/com.unity.ml-agents.extensions/Tests/Runtime/Input/Unity.ML-Agents.Extensions.Input.Tests.Runtime.asmdef
+++ b/com.unity.ml-agents.extensions/Tests/Runtime/Input/Unity.ML-Agents.Extensions.Input.Tests.Runtime.asmdef
@@ -23,7 +23,7 @@
     "versionDefines": [
         {
             "name": "com.unity.inputsystem",
-            "expression": "1.1.0",
+            "expression": "1.1.0-preview.3",
             "define": "MLA_INPUT_TESTS"
         }
     ],
diff --git a/com.unity.ml-agents/CHANGELOG.md b/com.unity.ml-agents/CHANGELOG.md
index 97d41000d6..6f829aa9df 100755
--- a/com.unity.ml-agents/CHANGELOG.md
+++ b/com.unity.ml-agents/CHANGELOG.md
@@ -19,9 +19,10 @@ and this project adheres to
 - The `cattrs` version dependency was updated to allow `>=1.1.0` on Python 3.8 or higher. (#4821)
 
 ### Bug Fixes
-#### com.unity.ml-agents (C#)
+#### com.unity.ml-agents / com.unity.ml-agents.extensions (C#)
 #### ml-agents / ml-agents-envs / gym-unity (Python)
 - An issue that caused `GAIL` to fail for environments where agents can terminate episodes by self-sacrifice has been fixed. (#4971)
+- Fix an issue where queuing InputEvents overwrote data from previous events in the same frame.
 
 ## [1.8.0-preview] - 2021-02-17
 ### Major Changes