diff --git a/Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/Area.prefab b/Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/Area.prefab
index 94895aa997..6cf59dd39f 100644
--- a/Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/Area.prefab
+++ b/Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/Area.prefab
@@ -68,6 +68,7 @@ MeshRenderer:
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   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
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   m_Materials:
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   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -156,7 +158,7 @@ Transform:
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   m_LocalScale: {x: 0.2, y: 1, z: 1}
   m_Children: []
-  m_Father: {fileID: 4034807106460652}
+  m_Father: {fileID: 1887170508549532943}
   m_RootOrder: 1
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
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@@ -194,6 +196,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
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   m_Materials:
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   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -260,9 +264,10 @@ Camera:
   m_ClearFlags: 1
   m_BackGroundColor: {r: 0.19215687, g: 0.3019608, b: 0.4745098, a: 0}
   m_projectionMatrixMode: 1
+  m_GateFitMode: 2
+  m_FOVAxisMode: 0
   m_SensorSize: {x: 36, y: 24}
   m_LensShift: {x: 0, y: 0}
-  m_GateFitMode: 2
   m_FocalLength: 50
   m_NormalizedViewPortRect:
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   - component: {fileID: 114889700908650620}
   - component: {fileID: 7980686505185502968}
+  - component: {fileID: 8594362037450380977}
   m_Layer: 8
   m_Name: Agent
   m_TagString: agent
@@ -323,10 +329,9 @@ Transform:
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   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
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-  - {fileID: 4206155882393090}
-  - {fileID: 4041386967126538}
-  - {fileID: 4616835664324708}
+  - {fileID: 1887170508549532943}
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+  - {fileID: 4067739522719805371}
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@@ -373,7 +378,7 @@ MonoBehaviour:
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     hasUpgradedBrainParametersWithActionSpec: 1
-  m_Model: {fileID: 11400000, guid: a812f1ce7763a4a0c912717f3594fe20, type: 3}
+  m_Model: {fileID: 11400000, guid: 255872f7c70ca4901b80bd5aed4a630f, type: 3}
   m_InferenceDevice: 2
   m_BehaviorType: 0
   m_BehaviorName: GridWorld
@@ -400,6 +405,8 @@ MonoBehaviour:
   area: {fileID: 114704252266302846}
   timeBetweenDecisionsAtInference: 0.15
   renderCamera: {fileID: 0}
+  GreenBottom: {fileID: 8920732062626264647}
+  RedBottom: {fileID: 4581466698767512273}
   maskActions: 1
 --- !u!114 &114889700908650620
 MonoBehaviour:
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   m_Width: 84
   m_Height: 64
   m_Grayscale: 0
+  m_ObservationType: 0
   m_ObservationStacks: 1
   m_Compression: 1
 --- !u!114 &7980686505185502968
@@ -433,6 +441,21 @@ MonoBehaviour:
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   players: 
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+  m_RayTracingMode: 2
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+  m_RayTracingMode: 2
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+  m_RayTracingMode: 2
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+  m_ReceiveGI: 1
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@@ -917,6 +949,7 @@ MeshRenderer:
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+  m_RayTracingMode: 2
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+  m_RayTracingMode: 2
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+  m_ReceiveGI: 1
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@@ -1100,6 +1136,7 @@ MeshRenderer:
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+  m_RayTracingMode: 2
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diff --git a/Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/pit.prefab b/Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/goal-ex.prefab
similarity index 72%
rename from Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/pit.prefab
rename to Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/goal-ex.prefab
index 3bee74147a..0551239705 100644
--- a/Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/pit.prefab
+++ b/Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/goal-ex.prefab
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diff --git a/Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/pit.prefab.meta b/Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/goal-ex.prefab.meta
similarity index 100%
rename from Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/pit.prefab.meta
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similarity index 72%
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+  m_RendererPriority: 0
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+  m_ReceiveGI: 1
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 MeshRenderer:
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-  m_PrefabParentObject: {fileID: 0}
-  m_PrefabInternal: {fileID: 100100000}
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@@ -153,6 +163,9 @@ MeshRenderer:
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   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
   m_Materials:
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+  m_ReceiveGI: 1
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   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
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+  m_ReceiveGI: 1
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diff --git a/Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/goal.prefab.meta b/Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/goal-plus.prefab.meta
similarity index 100%
rename from Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/goal.prefab.meta
rename to Project/Assets/ML-Agents/Examples/GridWorld/Prefabs/goal-plus.prefab.meta
diff --git a/Project/Assets/ML-Agents/Examples/GridWorld/Scenes/GridWorld.unity b/Project/Assets/ML-Agents/Examples/GridWorld/Scenes/GridWorld.unity
index ae76fed897..aedee626ff 100644
--- a/Project/Assets/ML-Agents/Examples/GridWorld/Scenes/GridWorld.unity
+++ b/Project/Assets/ML-Agents/Examples/GridWorld/Scenes/GridWorld.unity
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   m_Sun: {fileID: 0}
-  m_IndirectSpecularColor: {r: 0.4497121, g: 0.49977785, b: 0.57563704, a: 1}
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 --- !u!157 &3
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     m_EnableBakedLightmaps: 1
     m_EnableRealtimeLightmaps: 1
   m_LightmapEditorSettings:
-    serializedVersion: 10
+    serializedVersion: 12
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     m_AtlasSize: 1024
@@ -62,6 +62,7 @@ LightmapSettings:
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     m_CompAOExponent: 1
     m_CompAOExponentDirect: 0
+    m_ExtractAmbientOcclusion: 0
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     m_LightmapsBakeMode: 1
@@ -76,10 +77,16 @@ LightmapSettings:
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+    m_PVREnvironmentSampleCount: 500
+    m_PVREnvironmentReferencePointCount: 2048
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+    m_PVRDenoiserTypeIndirect: 0
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     m_PVRFilterTypeIndirect: 0
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     m_PVRFilteringAtrousPositionSigmaIndirect: 2
     m_PVRFilteringAtrousPositionSigmaAO: 1
-    m_ShowResolutionOverlay: 1
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   m_BackGroundColor: {r: 0.46666667, g: 0.5647059, b: 0.60784316, a: 1}
   m_projectionMatrixMode: 1
+  m_GateFitMode: 2
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@@ -209,7 +219,7 @@ Camera:
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   field of view: 58
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+  orthographic size: 5.46
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   - component: {fileID: 125487787}
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   renderCamera: {fileID: 797520692}
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@@ -2171,28 +2912,26 @@ MeshRenderer:
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---- !u!65 &1892751312
+--- !u!65 &1929077702
 BoxCollider:
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-    type: 3}
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-  m_GameObject: {fileID: 1892751309}
+  m_GameObject: {fileID: 1929077699}
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---- !u!33 &1892751313
+--- !u!33 &1929077703
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   m_ObjectHideFlags: 0
-  m_CorrespondingSourceObject: {fileID: 33172111281575160, guid: 5c2bd19e4bbda4991b74387ca5d28156,
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-  m_GameObject: {fileID: 1892751309}
+  m_GameObject: {fileID: 1929077699}
   m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0}
 --- !u!1 &1938864789
 GameObject:
@@ -2229,6 +2968,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -2240,6 +2980,7 @@ MeshRenderer:
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   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
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   m_ImportantGI: 0
@@ -2290,6 +3031,99 @@ Transform:
   m_Father: {fileID: 486401524}
   m_RootOrder: 3
   m_LocalEulerAnglesHint: {x: 0, y: 90, z: 0}
+--- !u!1 &2041478813
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+  m_Size: {x: 1, y: 1, z: 1}
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 --- !u!1001 &2140226864
 PrefabInstance:
   m_ObjectHideFlags: 0
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       propertyPath: m_Name
       value: Area (7)
       objectReference: {fileID: 0}
-    - target: {fileID: 1625008366184734, guid: 5c2bd19e4bbda4991b74387ca5d28156, type: 3}
-      propertyPath: m_IsActive
-      value: 1
+    - target: {fileID: 4124767863011510, guid: 5c2bd19e4bbda4991b74387ca5d28156, type: 3}
+      propertyPath: m_RootOrder
+      value: 14
       objectReference: {fileID: 0}
     - target: {fileID: 4124767863011510, guid: 5c2bd19e4bbda4991b74387ca5d28156, type: 3}
       propertyPath: m_LocalPosition.x
@@ -2317,6 +3151,10 @@ PrefabInstance:
       propertyPath: m_LocalPosition.z
       value: -1
       objectReference: {fileID: 0}
+    - target: {fileID: 4124767863011510, guid: 5c2bd19e4bbda4991b74387ca5d28156, type: 3}
+      propertyPath: m_LocalRotation.w
+      value: 1
+      objectReference: {fileID: 0}
     - target: {fileID: 4124767863011510, guid: 5c2bd19e4bbda4991b74387ca5d28156, type: 3}
       propertyPath: m_LocalRotation.x
       value: 0
@@ -2329,13 +3167,5 @@ PrefabInstance:
       propertyPath: m_LocalRotation.z
       value: 0
       objectReference: {fileID: 0}
-    - target: {fileID: 4124767863011510, guid: 5c2bd19e4bbda4991b74387ca5d28156, type: 3}
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diff --git a/Project/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAgent.cs b/Project/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAgent.cs
index 66a40a02b7..eaae7dddce 100644
--- a/Project/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/GridWorld/Scripts/GridAgent.cs
@@ -2,6 +2,7 @@
 using UnityEngine;
 using System.Linq;
 using Unity.MLAgents;
+using Unity.MLAgents.Sensors;
 using Unity.MLAgents.Actuators;
 using UnityEngine.Rendering;
 using UnityEngine.Serialization;
@@ -19,6 +20,42 @@ public class GridAgent : Agent
         "RenderTexture as observations.")]
     public Camera renderCamera;
 
+    VectorSensorComponent m_GoalSensor;
+
+    public enum GridGoal
+    {
+        GreenPlus,
+        RedEx,
+    }
+
+    // Visual representations of the agent. Both are blue on top, but different colors on the bottom - this
+    // allows the user to see which corresponds to the current goal, but it's not visible to the camera.
+    // Only one is active at a time.
+    public GameObject GreenBottom;
+    public GameObject RedBottom;
+
+    GridGoal m_CurrentGoal;
+
+    public GridGoal CurrentGoal
+    {
+        get { return m_CurrentGoal; }
+        set
+        {
+            switch (value)
+            {
+                case GridGoal.GreenPlus:
+                    GreenBottom.SetActive(true);
+                    RedBottom.SetActive(false);
+                    break;
+                case GridGoal.RedEx:
+                    GreenBottom.SetActive(false);
+                    RedBottom.SetActive(true);
+                    break;
+            }
+            m_CurrentGoal = value;
+        }
+    }
+
     [Tooltip("Selecting will turn on action masking. Note that a model trained with action " +
         "masking turned on may not behave optimally when action masking is turned off.")]
     public bool maskActions = true;
@@ -33,9 +70,17 @@ public class GridAgent : Agent
 
     public override void Initialize()
     {
+        m_GoalSensor = this.GetComponent<VectorSensorComponent>();
         m_ResetParams = Academy.Instance.EnvironmentParameters;
     }
 
+    public override void CollectObservations(VectorSensor sensor)
+    {
+        Array values = Enum.GetValues(typeof(GridGoal));
+        int goalNum = (int)CurrentGoal;
+        m_GoalSensor.GetSensor().AddOneHotObservation(goalNum, values.Length);
+    }
+
     public override void WriteDiscreteActionMask(IDiscreteActionMask actionMask)
     {
         // Mask the necessary actions if selected by the user.
@@ -103,19 +148,31 @@ public override void OnActionReceived(ActionBuffers actionBuffers)
         {
             transform.position = targetPos;
 
-            if (hit.Where(col => col.gameObject.CompareTag("goal")).ToArray().Length == 1)
+            if (hit.Where(col => col.gameObject.CompareTag("plus")).ToArray().Length == 1)
             {
-                SetReward(1f);
+                ProvideReward(GridGoal.GreenPlus);
                 EndEpisode();
             }
-            else if (hit.Where(col => col.gameObject.CompareTag("pit")).ToArray().Length == 1)
+            else if (hit.Where(col => col.gameObject.CompareTag("ex")).ToArray().Length == 1)
             {
-                SetReward(-1f);
+                ProvideReward(GridGoal.RedEx);
                 EndEpisode();
             }
         }
     }
 
+    private void ProvideReward(GridGoal hitObject)
+    {
+        if (CurrentGoal == hitObject)
+        {
+            SetReward(1f);
+        }
+        else
+        {
+            SetReward(-1f);
+        }
+    }
+
     public override void Heuristic(in ActionBuffers actionsOut)
     {
         var discreteActionsOut = actionsOut.DiscreteActions;
@@ -142,6 +199,8 @@ public override void Heuristic(in ActionBuffers actionsOut)
     public override void OnEpisodeBegin()
     {
         area.AreaReset();
+        Array values = Enum.GetValues(typeof(GridGoal));
+        CurrentGoal = (GridGoal)values.GetValue(UnityEngine.Random.Range(0, values.Length));
     }
 
     public void FixedUpdate()
diff --git a/Project/Assets/ML-Agents/Examples/GridWorld/Scripts/GridArea.cs b/Project/Assets/ML-Agents/Examples/GridWorld/Scripts/GridArea.cs
index bc7840a8af..7d3c85ae74 100644
--- a/Project/Assets/ML-Agents/Examples/GridWorld/Scripts/GridArea.cs
+++ b/Project/Assets/ML-Agents/Examples/GridWorld/Scripts/GridArea.cs
@@ -2,6 +2,7 @@
 using UnityEngine;
 using System.Linq;
 using Unity.MLAgents;
+using UnityEngine.Serialization;
 
 
 public class GridArea : MonoBehaviour
@@ -15,10 +16,11 @@ public class GridArea : MonoBehaviour
 
     Camera m_AgentCam;
 
-    public GameObject goalPref;
-    public GameObject pitPref;
+    [FormerlySerializedAs("PlusPref")] public GameObject GreenPlusPrefab;
+    [FormerlySerializedAs("ExPref")] public GameObject RedExPrefab;
     GameObject[] m_Objects;
-    public int numberOfObstacles = 1;
+    public int numberOfPlus = 1;
+    public int numberOfEx = 1;
 
     GameObject m_Plane;
     GameObject m_Sn;
@@ -34,7 +36,7 @@ public void Start()
     {
         m_ResetParams = Academy.Instance.EnvironmentParameters;
 
-        m_Objects = new[] { goalPref, pitPref };
+        m_Objects = new[] { GreenPlusPrefab, RedExPrefab };
 
         m_AgentCam = transform.Find("agentCam").GetComponent<Camera>();
 
@@ -55,14 +57,14 @@ void SetEnvironment()
         transform.position = m_InitialPosition * (m_ResetParams.GetWithDefault("gridSize", 5f) + 1);
         var playersList = new List<int>();
 
-        for (var i = 0; i < (int)m_ResetParams.GetWithDefault("numObstacles", numberOfObstacles); i++)
+        for (var i = 0; i < (int)m_ResetParams.GetWithDefault("numPlusGoals", numberOfPlus); i++)
         {
-            playersList.Add(1);
+            playersList.Add(0);
         }
 
-        for (var i = 0; i < (int)m_ResetParams.GetWithDefault("numGoals", 1f); i++)
+        for (var i = 0; i < (int)m_ResetParams.GetWithDefault("numExGoals", numberOfEx); i++)
         {
-            playersList.Add(0);
+            playersList.Add(1);
         }
         players = playersList.ToArray();
 
diff --git a/Project/Assets/ML-Agents/Examples/GridWorld/TFModels.meta b/Project/Assets/ML-Agents/Examples/GridWorld/TFModels.meta
old mode 100755
new mode 100644
index 3550e9a917..d8e3c04452
--- a/Project/Assets/ML-Agents/Examples/GridWorld/TFModels.meta
+++ b/Project/Assets/ML-Agents/Examples/GridWorld/TFModels.meta
@@ -1,9 +1,8 @@
 fileFormatVersion: 2
 guid: b9c5639f5544e49d785119b8a28305bd
 folderAsset: yes
-timeCreated: 1505509039
-licenseType: Pro
 DefaultImporter:
+  externalObjects: {}
   userData: 
   assetBundleName: 
   assetBundleVariant: 
diff --git a/Project/Assets/ML-Agents/Examples/GridWorld/TFModels/GridWorld.nn b/Project/Assets/ML-Agents/Examples/GridWorld/TFModels/GridWorld.nn
deleted file mode 100644
index 35eebf7baa..0000000000
Binary files a/Project/Assets/ML-Agents/Examples/GridWorld/TFModels/GridWorld.nn and /dev/null differ
diff --git a/Project/Assets/ML-Agents/Examples/GridWorld/TFModels/GridWorld.nn.meta b/Project/Assets/ML-Agents/Examples/GridWorld/TFModels/GridWorld.nn.meta
deleted file mode 100644
index 00f9b2cd54..0000000000
--- a/Project/Assets/ML-Agents/Examples/GridWorld/TFModels/GridWorld.nn.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: a812f1ce7763a4a0c912717f3594fe20
-ScriptedImporter:
-  fileIDToRecycleName:
-    11400000: main obj
-    11400002: model data
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
-  script: {fileID: 11500000, guid: 19ed1486aa27d4903b34839f37b8f69f, type: 3}
diff --git a/Project/Assets/ML-Agents/Examples/GridWorld/TFModels/GridWorld.onnx b/Project/Assets/ML-Agents/Examples/GridWorld/TFModels/GridWorld.onnx
new file mode 100644
index 0000000000..14795e8700
Binary files /dev/null and b/Project/Assets/ML-Agents/Examples/GridWorld/TFModels/GridWorld.onnx differ
diff --git a/Project/Assets/ML-Agents/Examples/GridWorld/TFModels/GridWorld.onnx.meta b/Project/Assets/ML-Agents/Examples/GridWorld/TFModels/GridWorld.onnx.meta
new file mode 100644
index 0000000000..665154fc57
--- /dev/null
+++ b/Project/Assets/ML-Agents/Examples/GridWorld/TFModels/GridWorld.onnx.meta
@@ -0,0 +1,15 @@
+fileFormatVersion: 2
+guid: 255872f7c70ca4901b80bd5aed4a630f
+ScriptedImporter:
+  fileIDToRecycleName:
+    11400000: main obj
+    11400002: model data
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
+  script: {fileID: 11500000, guid: 683b6cb6d0a474744822c888b46772c9, type: 3}
+  optimizeModel: 1
+  forceArbitraryBatchSize: 1
+  treatErrorsAsWarnings: 0
+  importMode: 1
diff --git a/com.unity.ml-agents/Tests/Runtime/Sensor/RenderTextureSensorTests.cs b/com.unity.ml-agents/Tests/Runtime/Sensor/RenderTextureSensorTests.cs
index 0444037985..767dd50de5 100644
--- a/com.unity.ml-agents/Tests/Runtime/Sensor/RenderTextureSensorTests.cs
+++ b/com.unity.ml-agents/Tests/Runtime/Sensor/RenderTextureSensorTests.cs
@@ -29,5 +29,22 @@ public void TestRenderTextureSensor()
                 }
             }
         }
+
+        [Test]
+        public void TestObservationType()
+        {
+            var width = 24;
+            var height = 16;
+            var camera = Camera.main;
+            var sensor = new CameraSensor(camera, width, height, true, "TestCameraSensor", SensorCompressionType.None);
+            var spec = sensor.GetObservationSpec();
+            Assert.AreEqual((int)spec.ObservationType, (int)ObservationType.Default);
+            sensor = new CameraSensor(camera, width, height, true, "TestCameraSensor", SensorCompressionType.None, ObservationType.Default);
+            spec = sensor.GetObservationSpec();
+            Assert.AreEqual((int)spec.ObservationType, (int)ObservationType.Default);
+            sensor = new CameraSensor(camera, width, height, true, "TestCameraSensor", SensorCompressionType.None, ObservationType.GoalSignal);
+            spec = sensor.GetObservationSpec();
+            Assert.AreEqual((int)spec.ObservationType, (int)ObservationType.GoalSignal);
+        }
     }
 }
diff --git a/config/ppo/GridWorld.yaml b/config/ppo/GridWorld.yaml
index 251fdb1d82..c6183ffc53 100644
--- a/config/ppo/GridWorld.yaml
+++ b/config/ppo/GridWorld.yaml
@@ -12,7 +12,7 @@ behaviors:
       learning_rate_schedule: linear
     network_settings:
       normalize: false
-      hidden_units: 256
+      hidden_units: 128
       num_layers: 1
       vis_encode_type: simple
     reward_signals:
diff --git a/docs/Learning-Environment-Design-Agents.md b/docs/Learning-Environment-Design-Agents.md
index 3475043889..6145c3c483 100644
--- a/docs/Learning-Environment-Design-Agents.md
+++ b/docs/Learning-Environment-Design-Agents.md
@@ -587,6 +587,8 @@ weights of the policy using the goal observations as input. Note that using a
 HyperNetwork requires a lot of computations, it is recommended to use a smaller
 number of hidden units in the policy to alleviate this.
 If set to `none` the goal signal will be considered as regular observations.
+For an example on how to use a goal signal, see the
+[GridWorld example](Learning-Environment-Examples.md#gridworld).
 
 #### Goal Signal Summary & Best Practices
  - Attach a `VectorSensorComponent` or `CameraSensorComponent` to an agent and
diff --git a/docs/Learning-Environment-Examples.md b/docs/Learning-Environment-Examples.md
index 8bfa50228e..51b059cde4 100644
--- a/docs/Learning-Environment-Examples.md
+++ b/docs/Learning-Environment-Examples.md
@@ -82,16 +82,16 @@ you would like to contribute environments, please see our
 
 ![GridWorld](images/gridworld.png)
 
-- Set-up: A version of the classic grid-world task. Scene contains agent, goal,
+- Set-up: A multi-goal version of the grid-world task. Scene contains agent, goal,
   and obstacles.
-- Goal: The agent must navigate the grid to the goal while avoiding the
-  obstacles.
+- Goal: The agent must navigate the grid to the appropriate goal while
+  avoiding the obstacles.
 - Agents: The environment contains nine agents with the same Behavior
   Parameters.
 - Agent Reward Function:
   - -0.01 for every step.
-  - +1.0 if the agent navigates to the goal position of the grid (episode ends).
-  - -1.0 if the agent navigates to an obstacle (episode ends).
+  - +1.0 if the agent navigates to the correct goal (episode ends).
+  - -1.0 if the agent navigates to an incorrect goal (episode ends).
 - Behavior Parameters:
   - Vector Observation space: None
   - Actions: 1 discrete action branch with 5 actions, corresponding to movement in
@@ -101,8 +101,10 @@ you would like to contribute environments, please see our
     checkbox within the `trueAgent` GameObject). The trained model file provided
     was generated with action masking turned on.
   - Visual Observations: One corresponding to top-down view of GridWorld.
-- Float Properties: Three, corresponding to grid size, number of obstacles, and
-  number of goals.
+  - Goal Signal : A one hot vector corresponding to which color is the correct goal
+  for the Agent
+- Float Properties: Three, corresponding to grid size, number of green goals, and
+  number of red goals.
 - Benchmark Mean Reward: 0.8
 
 ## Push Block
diff --git a/docs/images/gridworld.png b/docs/images/gridworld.png
index bed5d5d086..671830eb2f 100644
Binary files a/docs/images/gridworld.png and b/docs/images/gridworld.png differ