diff --git a/com.unity.ml-agents/CHANGELOG.md b/com.unity.ml-agents/CHANGELOG.md
index b565c88127..37dce2b9bf 100755
--- a/com.unity.ml-agents/CHANGELOG.md
+++ b/com.unity.ml-agents/CHANGELOG.md
@@ -61,6 +61,7 @@ determine whether `Agent.RequestDecision()` and `Agent.RequestAction()` are call
 - Fixed a bug where sensors and actuators could get sorted inconsistently on different systems to different Culture
 settings. Unfortunately, this may require retraining models if it changes the resulting order of the sensors
 or actuators on your system. (#5194)
+- Removed additional memory allocations that were occurring due to assert messages and iterating of DemonstrationRecorders. (#5246)
 #### ml-agents / ml-agents-envs / gym-unity (Python)
 - Fixed an issue which was causing increased variance when using LSTMs. Also fixed an issue with LSTM when used with POCA and `sequence_length` < `time_horizon`. (#5206)
 - Fixed a bug where the SAC replay buffer would not be saved out at the end of a run, even if `save_replay_buffer` was enabled. (#5205)
diff --git a/com.unity.ml-agents/Runtime/Actuators/ActuatorManager.cs b/com.unity.ml-agents/Runtime/Actuators/ActuatorManager.cs
index de0f239d68..1ff35557d9 100644
--- a/com.unity.ml-agents/Runtime/Actuators/ActuatorManager.cs
+++ b/com.unity.ml-agents/Runtime/Actuators/ActuatorManager.cs
@@ -174,10 +174,13 @@ static void UpdateActionArray<T>(ActionSegment<T> sourceActionBuffer, ActionSegm
             }
             else
             {
-                Debug.AssertFormat(sourceActionBuffer.Length == destination.Length,
-                    "sourceActionBuffer: {0} is a different size than destination: {1}.",
-                    sourceActionBuffer.Length,
-                    destination.Length);
+                if (sourceActionBuffer.Length != destination.Length)
+                {
+                    Debug.AssertFormat(sourceActionBuffer.Length == destination.Length,
+                        "sourceActionBuffer: {0} is a different size than destination: {1}.",
+                        sourceActionBuffer.Length,
+                        destination.Length);
+                }
 
                 Array.Copy(sourceActionBuffer.Array,
                     sourceActionBuffer.Offset,
diff --git a/com.unity.ml-agents/Runtime/Agent.cs b/com.unity.ml-agents/Runtime/Agent.cs
index 6c056c541a..fd0377f870 100644
--- a/com.unity.ml-agents/Runtime/Agent.cs
+++ b/com.unity.ml-agents/Runtime/Agent.cs
@@ -574,9 +574,12 @@ void NotifyAgentDone(DoneReason doneReason)
             m_Brain?.RequestDecision(m_Info, sensors);
 
             // We also have to write any to any DemonstationStores so that they get the "done" flag.
-            foreach (var demoWriter in DemonstrationWriters)
+            if (DemonstrationWriters.Count != 0)
             {
-                demoWriter.Record(m_Info, sensors);
+                foreach (var demoWriter in DemonstrationWriters)
+                {
+                    demoWriter.Record(m_Info, sensors);
+                }
             }
 
             ResetSensors();
@@ -1082,9 +1085,12 @@ void SendInfoToBrain()
             }
 
             // If we have any DemonstrationWriters, write the AgentInfo and sensors to them.
-            foreach (var demoWriter in DemonstrationWriters)
+            if (DemonstrationWriters.Count != 0)
             {
-                demoWriter.Record(m_Info, sensors);
+                foreach (var demoWriter in DemonstrationWriters)
+                {
+                    demoWriter.Record(m_Info, sensors);
+                }
             }
         }
 
diff --git a/com.unity.ml-agents/Runtime/Sensors/SensorShapeValidator.cs b/com.unity.ml-agents/Runtime/Sensors/SensorShapeValidator.cs
index 217e886e75..495d46bdad 100644
--- a/com.unity.ml-agents/Runtime/Sensors/SensorShapeValidator.cs
+++ b/com.unity.ml-agents/Runtime/Sensors/SensorShapeValidator.cs
@@ -25,23 +25,29 @@ public void ValidateSensors(List<ISensor> sensors)
             else
             {
                 // Check for compatibility with the other Agents' Sensors
-                // TODO make sure this only checks once per agent
-                Debug.AssertFormat(
-                    m_SensorShapes.Count == sensors.Count,
-                    "Number of Sensors must match. {0} != {1}",
-                    m_SensorShapes.Count,
-                    sensors.Count
-                );
+                if (m_SensorShapes.Count != sensors.Count)
+                {
+                    Debug.AssertFormat(
+                        m_SensorShapes.Count == sensors.Count,
+                        "Number of Sensors must match. {0} != {1}",
+                        m_SensorShapes.Count,
+                        sensors.Count
+                    );
+                }
                 for (var i = 0; i < Mathf.Min(m_SensorShapes.Count, sensors.Count); i++)
                 {
                     var cachedSpec = m_SensorShapes[i];
                     var sensorSpec = sensors[i].GetObservationSpec();
-                    Debug.AssertFormat(
-                        cachedSpec.Shape == sensorSpec.Shape,
-                        "Sensor shapes must match. {0} != {1}",
-                        cachedSpec.Shape,
-                        sensorSpec.Shape
-                    );
+                    if (cachedSpec.Shape != sensorSpec.Shape)
+                    {
+                        Debug.AssertFormat(
+                            cachedSpec.Shape == sensorSpec.Shape,
+                            "Sensor shapes must match. {0} != {1}",
+                            cachedSpec.Shape,
+                            sensorSpec.Shape
+                        );
+
+                    }
                 }
             }
         }