Big negative reward

com.unity.ml-agents/Editor/GridSensorComponentEditor.cs

                 gridSize.vector3IntValue = new Vector3Int(newGridSize.x, 1, newGridSize.z);
             }
             EditorGUI.EndDisabledGroup();
+            EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_RootReference)), true);
             EditorGUILayout.PropertyField(so.FindProperty(nameof(GridSensorComponent.m_RotateWithAgent)), true);
 
             EditorGUI.BeginDisabledGroup(!EditorUtilities.CanUpdateModelProperties());

com.unity.ml-agents/Runtime/Sensors/BoxOverlapChecker.cs

         Vector3Int m_GridSize;
         bool m_RotateWithAgent;
         LayerMask m_ColliderMask;
+        GameObject m_CenterObject;
         GameObject m_RootReference;
         string[] m_DetectableTags;
         int m_InitialColliderBufferSize;
             Vector3Int gridSize,
             bool rotateWithAgent,
             LayerMask colliderMask,
+            GameObject centerObject,
             GameObject rootReference,
             string[] detectableTags,
             int initialColliderBufferSize,
             m_GridSize = gridSize;
             m_RotateWithAgent = rotateWithAgent;
             m_ColliderMask = colliderMask;
+            m_CenterObject = centerObject;
             m_RootReference = rootReference;
             m_DetectableTags = detectableTags;
             m_InitialColliderBufferSize = initialColliderBufferSize;
         {
             if (m_RotateWithAgent)
             {
-                return m_RootReference.transform.TransformPoint(m_CellLocalPositions[cellIndex]);
+                return m_CenterObject.transform.TransformPoint(m_CellLocalPositions[cellIndex]);
-                return m_CellLocalPositions[cellIndex] + m_RootReference.transform.position;
+                return m_CellLocalPositions[cellIndex] + m_CenterObject.transform.position;
-            return m_RotateWithAgent ? m_RootReference.transform.rotation : Quaternion.identity;
+            return m_RotateWithAgent ? m_CenterObject.transform.rotation : Quaternion.identity;
         }
 
         /// <summary>
                 }
 
                 var closestColliderPoint = foundColliders[i].ClosestPointOnBounds(cellCenter);
-                var currentDistanceSquared = (closestColliderPoint - m_RootReference.transform.position).sqrMagnitude;
+                var currentDistanceSquared = (closestColliderPoint - m_CenterObject.transform.position).sqrMagnitude;
 
                 if (currentDistanceSquared >= minDistanceSquared)
                 {

com.unity.ml-agents/Runtime/Sensors/GridSensorComponent.cs

         }
 
         [HideInInspector, SerializeField]
+        internal GameObject m_RootReference;
+        /// <summary>
+        /// The reference of the root of the agent. This is used to disambiguate objects with
+        /// the same tag as the agent. Defaults to current GameObject.
+        /// </summary>
+        public GameObject RootReference
+        {
+            get { return (m_RootReference == null ? gameObject : m_RootReference); }
+            set { m_RootReference = value; }
+        }
+
+        [HideInInspector, SerializeField]
         internal string[] m_DetectableTags;
         /// <summary>
         /// List of tags that are detected.
                 m_RotateWithAgent,
                 m_ColliderMask,
                 gameObject,
+                RootReference,
                 m_DetectableTags,
                 m_InitialColliderBufferSize,
                 m_MaxColliderBufferSize

com.unity.ml-agents/Tests/Runtime/Sensor/BoxOverlapCheckerTests.cs

             Vector3Int gridSize,
             bool rotateWithAgent,
             LayerMask colliderMask,
+            GameObject centerObject,
             GameObject rootReference,
             string[] detectableTags,
             int initialColliderBufferSize,
                 gridSize,
                 rotateWithAgent,
                 colliderMask,
+                centerObject,
                 rootReference,
                 detectableTags,
                 initialColliderBufferSize,
             int gridSizeX = 10,
             int gridSizeZ = 10,
             bool rotateWithAgent = true,
+            GameObject centerObject = null,
             GameObject rootReference = null,
             string[] detectableTags = null,
             int initialColliderBufferSize = 4,
                 new Vector3Int(gridSizeX, 1, gridSizeZ),
                 rotateWithAgent,
                 LayerMask.GetMask("Default"),
+                centerObject,
                 rootReference,
                 detectableTags,
                 initialColliderBufferSize,

Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockCollabAreaGrid.prefab

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Project/Assets/ML-Agents/Examples/PushBlock/Scenes/PushBlockCollab.unity

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Project/Assets/ML-Agents/Examples/PushBlock/Scripts/PushBlockEnvController.cs

         }
 
         //Hurry Up Penalty
-        m_AgentGroup.AddGroupReward(-0.5f / MaxEnvironmentSteps);
+        m_AgentGroup.AddGroupReward(-5.0f / MaxEnvironmentSteps);
     }
 
     /// <summary>

Project/Assets/ML-Agents/Examples/PushBlock/Prefabs/PushBlockAgentRayCollab.prefab

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