diff --git a/Project/Assets/ML-Agents/Examples/FoodCollector/Scripts/FoodCollectorAgent.cs b/Project/Assets/ML-Agents/Examples/FoodCollector/Scripts/FoodCollectorAgent.cs
index 87c9d316ae..b073e40c13 100644
--- a/Project/Assets/ML-Agents/Examples/FoodCollector/Scripts/FoodCollectorAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/FoodCollector/Scripts/FoodCollectorAgent.cs
@@ -209,6 +209,9 @@ public override void OnActionReceived(float[] vectorAction)
 
     public override void Heuristic(float[] actionsOut)
     {
+        actionsOut[0] = 0f;
+        actionsOut[1] = 0f;
+        actionsOut[2] = 0f;
         if (Input.GetKey(KeyCode.D))
         {
             actionsOut[2] = 2f;
diff --git a/com.unity.ml-agents/CHANGELOG.md b/com.unity.ml-agents/CHANGELOG.md
index fa7a04096c..4a7ef6b531 100755
--- a/com.unity.ml-agents/CHANGELOG.md
+++ b/com.unity.ml-agents/CHANGELOG.md
@@ -20,6 +20,7 @@ and this project adheres to
 - The Barracuda dependency was upgraded to 1.0.0 (#4118)
 #### ml-agents / ml-agents-envs / gym-unity (Python)
 - Added new Google Colab notebooks to show how to use `UnityEnvironment'. (#4117)
+- Fixed issue with FoodCollector when playing with keyboard. (#4147)
 
 ### Bug Fixes
 #### com.unity.ml-agents (C#)