diff --git a/DevProject/Packages/packages-lock.json b/DevProject/Packages/packages-lock.json
index 7e56f41b72..a4d17f1d4a 100644
--- a/DevProject/Packages/packages-lock.json
+++ b/DevProject/Packages/packages-lock.json
@@ -57,9 +57,7 @@
       "dependencies": {
         "com.unity.barracuda": "1.3.2-preview",
         "com.unity.modules.imageconversion": "1.0.0",
-        "com.unity.modules.jsonserialize": "1.0.0",
-        "com.unity.modules.physics": "1.0.0",
-        "com.unity.modules.physics2d": "1.0.0"
+        "com.unity.modules.jsonserialize": "1.0.0"
       }
     },
     "com.unity.ml-agents.extensions": {
@@ -67,7 +65,8 @@
       "depth": 0,
       "source": "local",
       "dependencies": {
-        "com.unity.ml-agents": "2.0.0-exp.1"
+        "com.unity.ml-agents": "2.0.0-exp.1",
+        "com.unity.modules.physics": "1.0.0"
       }
     },
     "com.unity.nuget.mono-cecil": {
diff --git a/com.unity.ml-agents.extensions/Runtime/Match3/Match3Sensor.cs b/com.unity.ml-agents.extensions/Runtime/Match3/Match3Sensor.cs
index d01115af11..fdb8807ce7 100644
--- a/com.unity.ml-agents.extensions/Runtime/Match3/Match3Sensor.cs
+++ b/com.unity.ml-agents.extensions/Runtime/Match3/Match3Sensor.cs
@@ -1,11 +1,10 @@
+using System;
 using System.Collections.Generic;
 using Unity.MLAgents.Sensors;
 using UnityEngine;
-using Debug = UnityEngine.Debug;
 
 namespace Unity.MLAgents.Extensions.Match3
 {
-
     /// <summary>
     /// Delegate that provides integer values at a given (x,y) coordinate.
     /// </summary>
@@ -43,7 +42,7 @@ public enum Match3ObservationType
     /// Sensor for Match3 games. Can generate either vector, compressed visual,
     /// or uncompressed visual observations. Uses a GridValueProvider to determine the observation values.
     /// </summary>
-    public class Match3Sensor : ISensor, IBuiltInSensor
+    public class Match3Sensor : ISensor, IBuiltInSensor, IDisposable
     {
         Match3ObservationType m_ObservationType;
         ObservationSpec m_ObservationSpec;
@@ -54,6 +53,9 @@ public class Match3Sensor : ISensor, IBuiltInSensor
         GridValueProvider m_GridValues;
         int m_OneHotSize;
 
+        Texture2D m_ObservationTexture;
+        OneHotToTextureUtil m_TextureUtil;
+
         /// <summary>
         /// Create a sensor for the GridValueProvider with the specified observation type.
         /// </summary>
@@ -164,7 +166,6 @@ public int Write(ObservationWriter writer)
 
 
             return offset;
-
         }
 
         /// <inheritdoc/>
@@ -173,8 +174,15 @@ public byte[] GetCompressedObservation()
             m_Board.CheckBoardSizes(m_MaxBoardSize);
             var height = m_MaxBoardSize.Rows;
             var width = m_MaxBoardSize.Columns;
-            var tempTexture = new Texture2D(width, height, TextureFormat.RGB24, false);
-            var converter = new OneHotToTextureUtil(height, width);
+            if (ReferenceEquals(null, m_ObservationTexture))
+            {
+                m_ObservationTexture = new Texture2D(width, height, TextureFormat.RGB24, false);
+            }
+
+            if (ReferenceEquals(null, m_TextureUtil))
+            {
+                m_TextureUtil = new OneHotToTextureUtil(height, width);
+            }
             var bytesOut = new List<byte>();
             var currentBoardSize = m_Board.GetCurrentBoardSize();
 
@@ -185,17 +193,16 @@ public byte[] GetCompressedObservation()
             var numCellImages = (m_OneHotSize + 2) / 3;
             for (var i = 0; i < numCellImages; i++)
             {
-                converter.EncodeToTexture(
+                m_TextureUtil.EncodeToTexture(
                     m_GridValues,
-                    tempTexture,
+                    m_ObservationTexture,
                     3 * i,
                     currentBoardSize.Rows,
                     currentBoardSize.Columns
                 );
-                bytesOut.AddRange(tempTexture.EncodeToPNG());
+                bytesOut.AddRange(m_ObservationTexture.EncodeToPNG());
             }
 
-            DestroyTexture(tempTexture);
             return bytesOut.ToArray();
         }
 
@@ -234,16 +241,15 @@ public BuiltInSensorType GetBuiltInSensorType()
             return BuiltInSensorType.Match3Sensor;
         }
 
-        static void DestroyTexture(Texture2D texture)
+        /// <summary>
+        /// Clean up the owned Texture2D.
+        /// </summary>
+        public void Dispose()
         {
-            if (Application.isEditor)
-            {
-                // Edit Mode tests complain if we use Destroy()
-                Object.DestroyImmediate(texture);
-            }
-            else
+            if (!ReferenceEquals(null, m_ObservationTexture))
             {
-                Object.Destroy(texture);
+                Utilities.DestroyTexture(m_ObservationTexture);
+                m_ObservationTexture = null;
             }
         }
     }
@@ -274,7 +280,7 @@ public void EncodeToTexture(
             int channelOffset,
             int currentHeight,
             int currentWidth
-            )
+        )
         {
             var i = 0;
             // There's an implicit flip converting to PNG from texture, so make sure we
diff --git a/com.unity.ml-agents.extensions/Runtime/Match3/Match3SensorComponent.cs b/com.unity.ml-agents.extensions/Runtime/Match3/Match3SensorComponent.cs
index 9051b57740..31e57cc5e1 100644
--- a/com.unity.ml-agents.extensions/Runtime/Match3/Match3SensorComponent.cs
+++ b/com.unity.ml-agents.extensions/Runtime/Match3/Match3SensorComponent.cs
@@ -1,3 +1,4 @@
+using System;
 using Unity.MLAgents.Sensors;
 using UnityEngine;
 
@@ -7,7 +8,7 @@ namespace Unity.MLAgents.Extensions.Match3
     /// Sensor component for a Match3 game.
     /// </summary>
     [AddComponentMenu("ML Agents/Match 3 Sensor", (int)MenuGroup.Sensors)]
-    public class Match3SensorComponent : SensorComponent
+    public class Match3SensorComponent : SensorComponent, IDisposable
     {
         /// <summary>
         /// Name of the generated Match3Sensor object.
@@ -20,15 +21,38 @@ public class Match3SensorComponent : SensorComponent
         /// </summary>
         public Match3ObservationType ObservationType = Match3ObservationType.Vector;
 
+        private ISensor[] m_Sensors;
+
         /// <inheritdoc/>
         public override ISensor[] CreateSensors()
         {
+            // Clean up any existing sensors
+            Dispose();
+
             var board = GetComponent<AbstractBoard>();
             var cellSensor = Match3Sensor.CellTypeSensor(board, ObservationType, SensorName + " (cells)");
             // This can be null if numSpecialTypes is 0
             var specialSensor = Match3Sensor.SpecialTypeSensor(board, ObservationType, SensorName + " (special)");
-            return specialSensor != null ? new ISensor[] { cellSensor, specialSensor } : new ISensor[] { cellSensor };
+            m_Sensors = specialSensor != null
+                ? new ISensor[] { cellSensor, specialSensor }
+            : new ISensor[] { cellSensor };
+            return m_Sensors;
         }
 
+        /// <summary>
+        /// Clean up the sensors created by CreateSensors().
+        /// </summary>
+        public void Dispose()
+        {
+            if (m_Sensors != null)
+            {
+                for (var i = 0; i < m_Sensors.Length; i++)
+                {
+                    ((Match3Sensor)m_Sensors[i]).Dispose();
+                }
+
+                m_Sensors = null;
+            }
+        }
     }
 }
diff --git a/com.unity.ml-agents.extensions/Tests/Editor/Match3/Match3SensorTests.cs b/com.unity.ml-agents.extensions/Tests/Editor/Match3/Match3SensorTests.cs
index f2a88b63ef..28c19259c9 100644
--- a/com.unity.ml-agents.extensions/Tests/Editor/Match3/Match3SensorTests.cs
+++ b/com.unity.ml-agents.extensions/Tests/Editor/Match3/Match3SensorTests.cs
@@ -1,5 +1,6 @@
 using System.Collections.Generic;
 using System.IO;
+using System.Reflection;
 using NUnit.Framework;
 using Unity.MLAgents.Extensions.Match3;
 using UnityEngine;
@@ -244,6 +245,17 @@ public void TestVisualObservationsSpecial()
                 };
                 SensorTestHelper.CompareObservation(specialSensor, expectedObs3D);
             }
+
+            // Test that Dispose() cleans up the component and its sensors
+            sensorComponent.Dispose();
+
+            var flags = BindingFlags.Instance | BindingFlags.NonPublic;
+            var componentSensors = (ISensor[])typeof(Match3SensorComponent).GetField("m_Sensors", flags).GetValue(sensorComponent);
+            Assert.IsNull(componentSensors);
+            var cellTexture = (Texture2D)typeof(Match3Sensor).GetField("m_ObservationTexture", flags).GetValue(cellSensor);
+            Assert.IsNull(cellTexture);
+            var specialTexture = (Texture2D)typeof(Match3Sensor).GetField("m_ObservationTexture", flags).GetValue(cellSensor);
+            Assert.IsNull(specialTexture);
         }
 
 
diff --git a/com.unity.ml-agents/CHANGELOG.md b/com.unity.ml-agents/CHANGELOG.md
index b565c88127..8849742965 100755
--- a/com.unity.ml-agents/CHANGELOG.md
+++ b/com.unity.ml-agents/CHANGELOG.md
@@ -52,6 +52,11 @@ determine whether `Agent.RequestDecision()` and `Agent.RequestAction()` are call
 - `RaycastPerceptionSensor` now caches its raycast results; they can be accessed via `RayPerceptionSensor.RayPerceptionOutput`. (#5222)
 - `ActionBuffers` are now reset to zero before being passed to `Agent.Heuristic()` and
 `IHeuristicProvider.Heuristic()`. (#5227)
+- `Agent` will now call `IDisposable.Dispose()` on all `ISensor`s that implement the `IDisposable` interface. (#5233)
+- `CameraSensor`, `RenderTextureSensor`, and `Match3Sensor` will now reuse their `Texture2D`s, reducing the
+amount of memory that needs to be allocated during runtime. (#5233)
+- Optimzed `ObservationWriter.WriteTexture()` so that it doesn't call `Texture2D.GetPixels32()` for `RGB24` textures.
+This results in much less memory being allocated during inference with `CameraSensor` and `RenderTextureSensor`. (#5233)
 
 #### ml-agents / ml-agents-envs / gym-unity (Python)
 - Some console output have been moved from `info` to `debug` and will not be printed by default. If you want all messages to be printed, you can run `mlagents-learn` with the `--debug` option or add the line `debug: true` at the top of the yaml config file. (#5211)
diff --git a/com.unity.ml-agents/Runtime/Agent.cs b/com.unity.ml-agents/Runtime/Agent.cs
index 6c056c541a..aedad75287 100644
--- a/com.unity.ml-agents/Runtime/Agent.cs
+++ b/com.unity.ml-agents/Runtime/Agent.cs
@@ -542,6 +542,8 @@ protected virtual void OnDisable()
                 Academy.Instance.AgentForceReset -= _AgentReset;
                 NotifyAgentDone(DoneReason.Disabled);
             }
+
+            CleanupSensors();
             m_Brain?.Dispose();
             OnAgentDisabled?.Invoke(this);
             m_Initialized = false;
@@ -1004,6 +1006,19 @@ internal void InitializeSensors()
 #endif
         }
 
+        void CleanupSensors()
+        {
+            // Dispose all attached sensor
+            for (var i = 0; i < sensors.Count; i++)
+            {
+                var sensor = sensors[i];
+                if (sensor is IDisposable disposableSensor)
+                {
+                    disposableSensor.Dispose();
+                }
+            }
+        }
+
         void InitializeActuators()
         {
             ActuatorComponent[] attachedActuators;
diff --git a/com.unity.ml-agents/Runtime/Sensors/CameraSensor.cs b/com.unity.ml-agents/Runtime/Sensors/CameraSensor.cs
index 805e7e302b..ddf3d0000b 100644
--- a/com.unity.ml-agents/Runtime/Sensors/CameraSensor.cs
+++ b/com.unity.ml-agents/Runtime/Sensors/CameraSensor.cs
@@ -1,3 +1,4 @@
+using System;
 using UnityEngine;
 using UnityEngine.Rendering;
 
@@ -6,7 +7,7 @@ namespace Unity.MLAgents.Sensors
     /// <summary>
     /// A sensor that wraps a Camera object to generate visual observations for an agent.
     /// </summary>
-    public class CameraSensor : ISensor, IBuiltInSensor
+    public class CameraSensor : ISensor, IBuiltInSensor, IDisposable
     {
         Camera m_Camera;
         int m_Width;
@@ -15,6 +16,7 @@ public class CameraSensor : ISensor, IBuiltInSensor
         string m_Name;
         private ObservationSpec m_ObservationSpec;
         SensorCompressionType m_CompressionType;
+        Texture2D m_Texture;
 
         /// <summary>
         /// The Camera used for rendering the sensor observations.
@@ -34,7 +36,6 @@ public SensorCompressionType CompressionType
             set { m_CompressionType = value; }
         }
 
-
         /// <summary>
         /// Creates and returns the camera sensor.
         /// </summary>
@@ -56,6 +57,7 @@ public CameraSensor(
             var channels = grayscale ? 1 : 3;
             m_ObservationSpec = ObservationSpec.Visual(height, width, channels, observationType);
             m_CompressionType = compression;
+            m_Texture = new Texture2D(width, height, TextureFormat.RGB24, false);
         }
 
         /// <summary>
@@ -87,10 +89,9 @@ public byte[] GetCompressedObservation()
         {
             using (TimerStack.Instance.Scoped("CameraSensor.GetCompressedObservation"))
             {
-                var texture = ObservationToTexture(m_Camera, m_Width, m_Height);
+                ObservationToTexture(m_Camera, m_Texture, m_Width, m_Height);
                 // TODO support more types here, e.g. JPG
-                var compressed = texture.EncodeToPNG();
-                DestroyTexture(texture);
+                var compressed = m_Texture.EncodeToPNG();
                 return compressed;
             }
         }
@@ -104,9 +105,8 @@ public int Write(ObservationWriter writer)
         {
             using (TimerStack.Instance.Scoped("CameraSensor.WriteToTensor"))
             {
-                var texture = ObservationToTexture(m_Camera, m_Width, m_Height);
-                var numWritten = writer.WriteTexture(texture, m_Grayscale);
-                DestroyTexture(texture);
+                ObservationToTexture(m_Camera, m_Texture, m_Width, m_Height);
+                var numWritten = writer.WriteTexture(m_Texture, m_Grayscale);
                 return numWritten;
             }
         }
@@ -126,19 +126,17 @@ public CompressionSpec GetCompressionSpec()
         /// <summary>
         /// Renders a Camera instance to a 2D texture at the corresponding resolution.
         /// </summary>
-        /// <returns>The 2D texture.</returns>
         /// <param name="obsCamera">Camera.</param>
+        /// <param name="texture2D">Texture2D to render to.</param>
         /// <param name="width">Width of resulting 2D texture.</param>
         /// <param name="height">Height of resulting 2D texture.</param>
-        /// <returns name="texture2D">Texture2D to render to.</returns>
-        public static Texture2D ObservationToTexture(Camera obsCamera, int width, int height)
+        public static void ObservationToTexture(Camera obsCamera, Texture2D texture2D, int width, int height)
         {
             if (SystemInfo.graphicsDeviceType == GraphicsDeviceType.Null)
             {
                 Debug.LogError("GraphicsDeviceType is Null. This will likely crash when trying to render.");
             }
 
-            var texture2D = new Texture2D(width, height, TextureFormat.RGB24, false);
             var oldRec = obsCamera.rect;
             obsCamera.rect = new Rect(0f, 0f, 1f, 1f);
             var depth = 24;
@@ -163,40 +161,24 @@ public static Texture2D ObservationToTexture(Camera obsCamera, int width, int he
             obsCamera.rect = oldRec;
             RenderTexture.active = prevActiveRt;
             RenderTexture.ReleaseTemporary(tempRt);
-            return texture2D;
         }
 
-        /// <summary>
-        /// Computes the observation shape for a camera sensor based on the height, width
-        /// and grayscale flag.
-        /// </summary>
-        /// <param name="width">Width of the image captures from the camera.</param>
-        /// <param name="height">Height of the image captures from the camera.</param>
-        /// <param name="grayscale">Whether or not to convert the image to grayscale.</param>
-        /// <returns>The observation shape.</returns>
-        internal static int[] GenerateShape(int width, int height, bool grayscale)
+        /// <inheritdoc/>
+        public BuiltInSensorType GetBuiltInSensorType()
         {
-            return new[] { height, width, grayscale ? 1 : 3 };
+            return BuiltInSensorType.CameraSensor;
         }
 
-        static void DestroyTexture(Texture2D texture)
+        /// <summary>
+        /// Clean up the owned Texture2D.
+        /// </summary>
+        public void Dispose()
         {
-            if (Application.isEditor)
+            if (!ReferenceEquals(null, m_Texture))
             {
-                // Edit Mode tests complain if we use Destroy()
-                // TODO move to extension methods for UnityEngine.Object?
-                Object.DestroyImmediate(texture);
+                Utilities.DestroyTexture(m_Texture);
+                m_Texture = null;
             }
-            else
-            {
-                Object.Destroy(texture);
-            }
-        }
-
-        /// <inheritdoc/>
-        public BuiltInSensorType GetBuiltInSensorType()
-        {
-            return BuiltInSensorType.CameraSensor;
         }
     }
 }
diff --git a/com.unity.ml-agents/Runtime/Sensors/CameraSensorComponent.cs b/com.unity.ml-agents/Runtime/Sensors/CameraSensorComponent.cs
index 3df6c72764..80124520de 100644
--- a/com.unity.ml-agents/Runtime/Sensors/CameraSensorComponent.cs
+++ b/com.unity.ml-agents/Runtime/Sensors/CameraSensorComponent.cs
@@ -1,3 +1,4 @@
+using System;
 using UnityEngine;
 using UnityEngine.Serialization;
 
@@ -7,7 +8,7 @@ namespace Unity.MLAgents.Sensors
     /// A SensorComponent that creates a <see cref="CameraSensor"/>.
     /// </summary>
     [AddComponentMenu("ML Agents/Camera Sensor", (int)MenuGroup.Sensors)]
-    public class CameraSensorComponent : SensorComponent
+    public class CameraSensorComponent : SensorComponent, IDisposable
     {
         [HideInInspector, SerializeField, FormerlySerializedAs("camera")]
         Camera m_Camera;
@@ -120,6 +121,7 @@ public int ObservationStacks
         /// <returns>The created <see cref="CameraSensor"/> object for this component.</returns>
         public override ISensor[] CreateSensors()
         {
+            Dispose();
             m_Sensor = new CameraSensor(m_Camera, m_Width, m_Height, Grayscale, m_SensorName, m_Compression, m_ObservationType);
 
             if (ObservationStacks != 1)
@@ -140,5 +142,17 @@ internal void UpdateSensor()
                 m_Sensor.CompressionType = m_Compression;
             }
         }
+
+        /// <summary>
+        /// Clean up the sensor created by CreateSensors().
+        /// </summary>
+        public void Dispose()
+        {
+            if (!ReferenceEquals(m_Sensor, null))
+            {
+                m_Sensor.Dispose();
+                m_Sensor = null;
+            }
+        }
     }
 }
diff --git a/com.unity.ml-agents/Runtime/Sensors/ObservationWriter.cs b/com.unity.ml-agents/Runtime/Sensors/ObservationWriter.cs
index 7e688c96bd..b0633d9ae1 100644
--- a/com.unity.ml-agents/Runtime/Sensors/ObservationWriter.cs
+++ b/com.unity.ml-agents/Runtime/Sensors/ObservationWriter.cs
@@ -246,6 +246,10 @@ public static int WriteTexture(
             Texture2D texture,
             bool grayScale)
         {
+            if (texture.format == TextureFormat.RGB24)
+            {
+                return obsWriter.WriteTextureRGB24(texture, grayScale);
+            }
             var width = texture.width;
             var height = texture.height;
 
@@ -257,6 +261,7 @@ public static int WriteTexture(
                 for (var w = 0; w < width; w++)
                 {
                     var currentPixel = texturePixels[(height - h - 1) * width + w];
+
                     if (grayScale)
                     {
                         obsWriter[h, w, 0] =
@@ -274,5 +279,43 @@ public static int WriteTexture(
 
             return height * width * (grayScale ? 1 : 3);
         }
+
+        internal static int WriteTextureRGB24(
+            this ObservationWriter obsWriter,
+            Texture2D texture,
+            bool grayScale
+        )
+        {
+            var width = texture.width;
+            var height = texture.height;
+
+            var rawBytes = texture.GetRawTextureData<byte>();
+            // During training, we convert from Texture to PNG before sending to the trainer, which has the
+            // effect of flipping the image. We need another flip here at inference time to match this.
+            for (var h = height - 1; h >= 0; h--)
+            {
+                for (var w = 0; w < width; w++)
+                {
+                    var offset = (height - h - 1) * width + w;
+                    var r = rawBytes[3 * offset];
+                    var g = rawBytes[3 * offset + 1];
+                    var b = rawBytes[3 * offset + 2];
+
+                    if (grayScale)
+                    {
+                        obsWriter[h, w, 0] = (r + g + b) / 3f / 255.0f;
+                    }
+                    else
+                    {
+                        // For Color32, the r, g and b values are between 0 and 255.
+                        obsWriter[h, w, 0] = r / 255.0f;
+                        obsWriter[h, w, 1] = g / 255.0f;
+                        obsWriter[h, w, 2] = b / 255.0f;
+                    }
+                }
+            }
+
+            return height * width * (grayScale ? 1 : 3);
+        }
     }
 }
diff --git a/com.unity.ml-agents/Runtime/Sensors/RenderTextureSensor.cs b/com.unity.ml-agents/Runtime/Sensors/RenderTextureSensor.cs
index 7aec8d57eb..1734c513c9 100644
--- a/com.unity.ml-agents/Runtime/Sensors/RenderTextureSensor.cs
+++ b/com.unity.ml-agents/Runtime/Sensors/RenderTextureSensor.cs
@@ -1,3 +1,4 @@
+using System;
 using UnityEngine;
 
 namespace Unity.MLAgents.Sensors
@@ -5,13 +6,14 @@ namespace Unity.MLAgents.Sensors
     /// <summary>
     /// Sensor class that wraps a [RenderTexture](https://docs.unity3d.com/ScriptReference/RenderTexture.html) instance.
     /// </summary>
-    public class RenderTextureSensor : ISensor, IBuiltInSensor
+    public class RenderTextureSensor : ISensor, IBuiltInSensor, IDisposable
     {
         RenderTexture m_RenderTexture;
         bool m_Grayscale;
         string m_Name;
         private ObservationSpec m_ObservationSpec;
         SensorCompressionType m_CompressionType;
+        Texture2D m_Texture;
 
         /// <summary>
         /// The compression type used by the sensor.
@@ -42,6 +44,7 @@ public RenderTextureSensor(
             m_Name = name;
             m_ObservationSpec = ObservationSpec.Visual(height, width, grayscale ? 1 : 3);
             m_CompressionType = compressionType;
+            m_Texture = new Texture2D(width, height, TextureFormat.RGB24, false);
         }
 
         /// <inheritdoc/>
@@ -61,10 +64,9 @@ public byte[] GetCompressedObservation()
         {
             using (TimerStack.Instance.Scoped("RenderTextureSensor.GetCompressedObservation"))
             {
-                var texture = ObservationToTexture(m_RenderTexture);
+                ObservationToTexture(m_RenderTexture, m_Texture);
                 // TODO support more types here, e.g. JPG
-                var compressed = texture.EncodeToPNG();
-                DestroyTexture(texture);
+                var compressed = m_Texture.EncodeToPNG();
                 return compressed;
             }
         }
@@ -74,9 +76,8 @@ public int Write(ObservationWriter writer)
         {
             using (TimerStack.Instance.Scoped("RenderTextureSensor.Write"))
             {
-                var texture = ObservationToTexture(m_RenderTexture);
-                var numWritten = writer.WriteTexture(texture, m_Grayscale);
-                DestroyTexture(texture);
+                ObservationToTexture(m_RenderTexture, m_Texture);
+                var numWritten = writer.WriteTexture(m_Texture, m_Grayscale);
                 return numWritten;
             }
         }
@@ -102,14 +103,12 @@ public BuiltInSensorType GetBuiltInSensorType()
         /// <summary>
         /// Converts a RenderTexture to a 2D texture.
         /// </summary>
-        /// <returns>The 2D texture.</returns>
         /// <param name="obsTexture">RenderTexture.</param>
-        /// <returns name="texture2D">Texture2D to render to.</returns>
-        public static Texture2D ObservationToTexture(RenderTexture obsTexture)
+        /// <param name="texture2D">Texture2D to render to.</param>
+        public static void ObservationToTexture(RenderTexture obsTexture, Texture2D texture2D)
         {
             var height = obsTexture.height;
             var width = obsTexture.width;
-            var texture2D = new Texture2D(width, height, TextureFormat.RGB24, false);
 
             var prevActiveRt = RenderTexture.active;
             RenderTexture.active = obsTexture;
@@ -117,20 +116,17 @@ public static Texture2D ObservationToTexture(RenderTexture obsTexture)
             texture2D.ReadPixels(new Rect(0, 0, texture2D.width, texture2D.height), 0, 0);
             texture2D.Apply();
             RenderTexture.active = prevActiveRt;
-            return texture2D;
         }
 
-        static void DestroyTexture(Texture2D texture)
+        /// <summary>
+        /// Clean up the owned Texture2D.
+        /// </summary>
+        public void Dispose()
         {
-            if (Application.isEditor)
-            {
-                // Edit Mode tests complain if we use Destroy()
-                // TODO move to extension methods for UnityEngine.Object?
-                Object.DestroyImmediate(texture);
-            }
-            else
+            if (!ReferenceEquals(null, m_Texture))
             {
-                Object.Destroy(texture);
+                Utilities.DestroyTexture(m_Texture);
+                m_Texture = null;
             }
         }
     }
diff --git a/com.unity.ml-agents/Runtime/Sensors/RenderTextureSensorComponent.cs b/com.unity.ml-agents/Runtime/Sensors/RenderTextureSensorComponent.cs
index edcacf4ee4..8e58617dd3 100644
--- a/com.unity.ml-agents/Runtime/Sensors/RenderTextureSensorComponent.cs
+++ b/com.unity.ml-agents/Runtime/Sensors/RenderTextureSensorComponent.cs
@@ -1,3 +1,4 @@
+using System;
 using UnityEngine;
 using UnityEngine.Serialization;
 
@@ -7,7 +8,7 @@ namespace Unity.MLAgents.Sensors
     /// Component that wraps a <see cref="RenderTextureSensor"/>.
     /// </summary>
     [AddComponentMenu("ML Agents/Render Texture Sensor", (int)MenuGroup.Sensors)]
-    public class RenderTextureSensorComponent : SensorComponent
+    public class RenderTextureSensorComponent : SensorComponent, IDisposable
     {
         RenderTextureSensor m_Sensor;
 
@@ -84,6 +85,7 @@ public int ObservationStacks
         /// <inheritdoc/>
         public override ISensor[] CreateSensors()
         {
+            Dispose();
             m_Sensor = new RenderTextureSensor(RenderTexture, Grayscale, SensorName, m_Compression);
             if (ObservationStacks != 1)
             {
@@ -102,5 +104,17 @@ internal void UpdateSensor()
                 m_Sensor.CompressionType = m_Compression;
             }
         }
+
+        /// <summary>
+        /// Clean up the sensor created by CreateSensors().
+        /// </summary>
+        public void Dispose()
+        {
+            if (!ReferenceEquals(null, m_Sensor))
+            {
+                m_Sensor.Dispose();
+                m_Sensor = null;
+            }
+        }
     }
 }
diff --git a/com.unity.ml-agents/Runtime/Utilities.cs b/com.unity.ml-agents/Runtime/Utilities.cs
index 973887ef50..e9d4425048 100644
--- a/com.unity.ml-agents/Runtime/Utilities.cs
+++ b/com.unity.ml-agents/Runtime/Utilities.cs
@@ -1,5 +1,6 @@
 using System;
 using System.Diagnostics;
+using UnityEngine;
 
 namespace Unity.MLAgents
 {
@@ -26,6 +27,23 @@ internal static int[] CumSum(int[] input)
             return result;
         }
 
+        /// <summary>
+        /// Safely destroy a texture. This has to be used differently in unit tests.
+        /// </summary>
+        /// <param name="texture"></param>
+        internal static void DestroyTexture(Texture2D texture)
+        {
+            if (Application.isEditor)
+            {
+                // Edit Mode tests complain if we use Destroy()
+                UnityEngine.Object.DestroyImmediate(texture);
+            }
+            else
+            {
+                UnityEngine.Object.Destroy(texture);
+            }
+        }
+
         [Conditional("DEBUG")]
         internal static void DebugCheckNanAndInfinity(float value, string valueCategory, string caller)
         {
diff --git a/com.unity.ml-agents/Tests/Runtime/Sensor/CameraSensorComponentTest.cs b/com.unity.ml-agents/Tests/Runtime/Sensor/CameraSensorComponentTest.cs
index 1ed056fd21..b52d76b836 100644
--- a/com.unity.ml-agents/Tests/Runtime/Sensor/CameraSensorComponentTest.cs
+++ b/com.unity.ml-agents/Tests/Runtime/Sensor/CameraSensorComponentTest.cs
@@ -1,4 +1,5 @@
 using System;
+using System.Reflection;
 using NUnit.Framework;
 using UnityEngine;
 using Unity.MLAgents.Sensors;
@@ -33,6 +34,14 @@ public void TestCameraSensorComponent()
                     var expectedShape = new InplaceArray<int>(height, width, grayscale ? 1 : 3);
                     Assert.AreEqual(expectedShape, sensor.GetObservationSpec().Shape);
                     Assert.AreEqual(typeof(CameraSensor), sensor.GetType());
+
+                    // Make sure cleaning up the component cleans up the sensor too
+                    cameraComponent.Dispose();
+                    var flags = BindingFlags.Instance | BindingFlags.NonPublic;
+                    var cameraComponentSensor = (CameraSensor)typeof(CameraSensorComponent).GetField("m_Sensor", flags).GetValue(cameraComponent);
+                    Assert.IsNull(cameraComponentSensor);
+                    var cameraTexture = (Texture2D)typeof(CameraSensor).GetField("m_Texture", flags).GetValue(sensor);
+                    Assert.IsNull(cameraTexture);
                 }
             }
         }