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/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
index a2958862dd..a97942af99 100644
--- a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
+++ b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
@@ -166,6 +166,7 @@ public override void OnActionReceived(float[] vectorAction)
 
     public override void Heuristic(float[] actionsOut)
     {
+        Array.Clear(actionsOut, 0, actionsOut.Length);
         //forward
         if (Input.GetKey(KeyCode.W))
         {
diff --git a/Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAgent.cs b/Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAgent.cs
index 5d40ec0927..86a8622a4c 100644
--- a/Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAgent.cs
+++ b/Project/Assets/ML-Agents/Examples/WallJump/Scripts/WallJumpAgent.cs
@@ -242,6 +242,7 @@ public override void OnActionReceived(float[] vectorAction)
 
     public override void Heuristic(float[] actionsOut)
     {
+        System.Array.Clear(actionsOut, 0, actionsOut.Length);
         if (Input.GetKey(KeyCode.D))
         {
             actionsOut[1] = 2f;
diff --git a/com.unity.ml-agents/CHANGELOG.md b/com.unity.ml-agents/CHANGELOG.md
index 1014170f6f..1a3f7a0e45 100755
--- a/com.unity.ml-agents/CHANGELOG.md
+++ b/com.unity.ml-agents/CHANGELOG.md
@@ -12,6 +12,8 @@ and this project adheres to
 - Fixed an issue where RayPerceptionSensor would raise an exception when the
 list of tags was empty, or a tag in the list was invalid (unknown, null, or
 empty string). (#4155)
+#### ml-agents / ml-agents-envs / gym-unity (Python)
+- Fixed issue with FoodCollector, Soccer, and WallJump when playing with keyboard. (#4147, #4174)
 
 ## [1.0.2] - 2020-06-04
 ### Minor Changes
diff --git a/com.unity.ml-agents/Runtime/Agent.cs b/com.unity.ml-agents/Runtime/Agent.cs
index 032fa1ffd5..06d80f3a48 100644
--- a/com.unity.ml-agents/Runtime/Agent.cs
+++ b/com.unity.ml-agents/Runtime/Agent.cs
@@ -761,6 +761,8 @@ public virtual void Initialize() {}
         ///
         /// Your heuristic implementation can use any decision making logic you specify. Assign decision
         /// values to the float[] array, <paramref name="actionsOut"/>, passed to your function as a parameter.
+        /// The same array will be reused between steps. It is up to the user to initialize
+        /// the values on each call, for example by calling `Array.Clear(actionsOut, 0, actionsOut.Length);`.
         /// Add values to the array at the same indexes as they are used in your
         /// <seealso cref="OnActionReceived(float[])"/> function, which receives this array and
         /// implements the corresponding agent behavior. See [Actions] for more information