diff --git a/turtlebot3_rl/turtlebot3_rl/env.py b/turtlebot3_rl/turtlebot3_rl/env.py
index cb53247..a632570 100644
--- a/turtlebot3_rl/turtlebot3_rl/env.py
+++ b/turtlebot3_rl/turtlebot3_rl/env.py
@@ -3,40 +3,47 @@
 import numpy as np
 import rclpy
 from rclpy.node import Node
-from rclpy.executors import MultiThreadedExecutor
+from rclpy.executors import SingleThreadedExecutor
 from geometry_msgs.msg import Twist
 from sensor_msgs.msg import LaserScan
 import threading
+from .debug_publisher import DebugPublisher
 
 class TurtleBot3Env(gym.Env):
     def __init__(self):
         super(TurtleBot3Env, self).__init__()
 
+        # Define a range for LIDAR data that covers the front, left, right, and rear sides
+        self.full_indices = list(range(0, 360))  # Covers the full 360 degrees
+
         # Initialize ROS2 node
         rclpy.init(args=None)
         self.node = rclpy.create_node('turtlebot3_rl_env')
 
-        # Action space: linear and angular velocity
-        # Reduced linear velocity for more cautious movement
-        self.action_space = spaces.Box(low=np.array([-0.1, -0.05]), high=np.array([0.1, 0.05]), dtype=np.float32)
+        # Initialize Debug Publisher
+        self.debug_publisher = DebugPublisher()
 
-        # Observation space: laser scan data
-        self.observation_space = spaces.Box(low=0.0, high=3.5, shape=(360,), dtype=np.float32)
+        # Action space: linear and angular velocity (Normalized to [-1, 1] range)
+        self.action_space = spaces.Box(low=np.array([-1.0, -1.0]), high=np.array([1.0, 1.0]), dtype=np.float32)
 
+        # Observation space: Now includes front, left, right, and rear LIDAR data
+        self.observation_space = spaces.Box(low=0.0, high=3.5, shape=(len(self.full_indices),), dtype=np.float32)
+        
         # Publishers and subscribers
-        self.cmd_vel_pub = self.node.create_publisher(Twist, 'cmd_vel', 10)
+        self.cmd_vel_pub = self.node.create_publisher(Twist, 'cmd_vel', 1)  # Use a smaller queue size for faster response
         self.scan_sub = self.node.create_subscription(
             LaserScan,
             '/scan',
             self.scan_callback,
-            10  # Queue size
+            1  # Smaller queue size to prioritize the latest data
         )
 
         # Initialize scan data
-        self.scan_data = np.zeros(360, dtype=np.float32)
+        self.scan_data = np.zeros(len(self.full_indices), dtype=np.float32)
+        self.last_action = np.zeros(2)  # Initialize last_action to avoid uninitialized errors
 
-        # Use the executor to manage the node spinning
-        self.executor = MultiThreadedExecutor()
+        # Use a single-threaded executor for simpler, faster node execution
+        self.executor = SingleThreadedExecutor()
         self.executor.add_node(self.node)
 
         # Start a separate thread to spin the ROS2 node
@@ -44,8 +51,8 @@ def __init__(self):
         self.spin_thread.start()
 
     def scan_callback(self, msg):
-        # Handle laser scan data
-        raw_scan_data = np.array(msg.ranges, dtype=np.float32)
+        # Capture the full 360-degree LIDAR data
+        raw_scan_data = np.array(msg.ranges, dtype=np.float32)[self.full_indices]
 
         # Replace 0.0 values with a large number, indicating 'no detection'
         raw_scan_data[raw_scan_data == 0.0] = np.inf
@@ -61,73 +68,83 @@ def reset(self, seed=None, options=None):
             self.seed_val = seed
             self._np_random, seed = gym.utils.seeding.np_random(seed)
 
+        # Reset last_action to zero on reset
+        self.last_action = np.zeros(2)
+
         return self.scan_data.astype(np.float32), {}
 
     def step(self, action):
+        # Map normalized action back to original range
+        linear_velocity = np.clip(action[0], -1.0, 1.0) * 0.2  # Adjusted speed for more effective obstacle avoidance
+        angular_velocity = np.clip(action[1], -1.0, 1.0) * 0.2  # Adjust angular speed for better turning
+
         twist = Twist()
-        twist.linear.x = float(action[0])
-        twist.angular.z = float(action[1])
+        twist.linear.x = float(linear_velocity)
+        twist.angular.z = float(angular_velocity)
         self.cmd_vel_pub.publish(twist)
 
         # Log scan data for debugging
-        self.node.get_logger().info(f"Current scan data: {self.scan_data[:10]}")  # Log the first 10 laser scan values
+        self.node.get_logger().debug(f"Current scan data: {self.scan_data}")  # Use debug level to reduce logging overhead
 
         observation = self.scan_data.astype(np.float32)
-        reward = self.calculate_reward()
+        reward = self.calculate_reward(action, linear_velocity, angular_velocity)
         done = self.check_done()
 
-        # Log the action and the corresponding observation
-        self.node.get_logger().info(f"Action: {action}, Min Distance: {np.min(self.scan_data)}, Reward: {reward}")
+        # Publish debug information
+        self.debug_publisher.publish_debug_info(self.scan_data, action, reward, done)
 
         return observation, reward, done, False, {}
 
-    def calculate_reward(self):
-        min_distance = np.min(self.scan_data)
+    def calculate_reward(self, action, linear_velocity, angular_velocity):
+        # Focus on the full 360-degree sector for calculating rewards
+        front_min = np.min(self.scan_data[:90] + self.scan_data[-90:])  # Front sector
+        rear_min = np.min(self.scan_data[90:270])  # Rear sector
+
+        # Initialize reward
+        reward = 0.0
+
+        # Strong penalty for collisions (front or rear)
+        if front_min < 0.25 or rear_min < 0.25:
+            reward = -5000.0  # Strong penalty for collision
 
-        # Collision penalty
-        if min_distance < 0.2:
-            return -300.0  # High penalty for collision
+        # Reward for moving forward safely
+        if linear_velocity > 0 and front_min >= 0.5:
+            reward += 20.0  # Encourage forward movement if safe
 
-        # Reward for moving forward
-        forward_movement_reward = 1.0  # Maintain a modest reward for moving forward
+        # Reward for moving backward safely
+        if linear_velocity < 0 and rear_min >= 0.5:
+            reward += 20.0  # Encourage backward movement if safe
 
-        # Penalize proximity to obstacles more heavily
-        proximity_penalty = -50.0 * (0.5 - min_distance) if min_distance < 0.5 else 0.0
+        # Penalty for proximity to obstacles in the front or rear sectors
+        if front_min < 0.5 or rear_min < 0.5:
+            reward -= 1500.0 * (0.5 - min(front_min, rear_min))  # Stronger penalty for being too close to obstacles
 
-        # Reward for maintaining a safe distance
-        safe_distance_reward = 15.0 if min_distance > 0.5 else 0.0
+        # Penalize slow movements (to avoid the robot "creeping" forward too slowly)
+        if abs(linear_velocity) < 0.05:
+            reward -= 100.0  # Penalize very slow movements
 
-        # Small reward for each step the robot avoids collision (time-based reward)
-        time_step_reward = 0.2  # Encourage staying in a safe state over time
+        # Reward for turning away from obstacles
+        if (front_min < 0.3 or rear_min < 0.3) and angular_velocity != 0:
+            reward += 100.0  # Reward for turning away when too close to obstacles
 
-        # Combine rewards and penalties
-        reward = forward_movement_reward + proximity_penalty + safe_distance_reward + time_step_reward
+        # Update last action
+        self.last_action = action
 
         return reward
 
     def check_done(self):
-        min_distance = np.min(self.scan_data)
-        if min_distance < 0.2:
+        # Check the broader sector to determine if the episode is done
+        front_min = np.min(self.scan_data[:90] + self.scan_data[-90:])  # Front sector
+        rear_min = np.min(self.scan_data[90:270])  # Rear sector
+
+        # End the episode if a collision is detected in front or rear
+        if front_min < 0.25 or rear_min < 0.25:
             return True
         return False
 
     def close(self):
         self.executor.shutdown()
         self.spin_thread.join()
+        self.debug_publisher.destroy_node()
         rclpy.shutdown()
 
-def main():
-    rclpy.init(args=None)
-    env = TurtleBot3Env()
-
-    # Example test loop
-    for _ in range(100):  # Run for 100 steps as an example
-        action = env.action_space.sample()  # Random action
-        observation, reward, done, _, _ = env.step(action)
-        if done:
-            env.reset()
-
-    env.close()
-
-if __name__ == '__main__':
-    main()
diff --git a/turtlebot3_rl/turtlebot3_rl/ppo_turtlebot3.zip b/turtlebot3_rl/turtlebot3_rl/ppo_turtlebot3.zip
deleted file mode 100644
index 3f217dc..0000000
Binary files a/turtlebot3_rl/turtlebot3_rl/ppo_turtlebot3.zip and /dev/null differ
diff --git a/turtlebot3_rl/turtlebot3_rl/sac_turtlebot3_final.zip b/turtlebot3_rl/turtlebot3_rl/sac_turtlebot3_final.zip
new file mode 100644
index 0000000..f067ca4
Binary files /dev/null and b/turtlebot3_rl/turtlebot3_rl/sac_turtlebot3_final.zip differ
diff --git a/turtlebot3_rl/turtlebot3_rl/test.py b/turtlebot3_rl/turtlebot3_rl/test.py
index ffd208b..4d660d0 100644
--- a/turtlebot3_rl/turtlebot3_rl/test.py
+++ b/turtlebot3_rl/turtlebot3_rl/test.py
@@ -1,22 +1,39 @@
-from stable_baselines3 import PPO
+import gym
+from stable_baselines3 import SAC
 from turtlebot3_rl.env import TurtleBot3Env
-import numpy as np
 
 def main():
+    # Initialize the environment
     env = TurtleBot3Env()
 
     # Load the trained model
-    model = PPO.load("ppo_turtlebot3")
+    model = SAC.load("sac_turtlebot3_final.zip")
 
-    obs, _ = env.reset()
-    for _ in range(20):  # Test for a small number of steps
-        action, _states = model.predict(obs, deterministic=True)
-        obs, reward, done, truncated, info = env.step(action)
-        print(f"Action: {action}, Min Distance: {np.min(obs)}, Reward: {reward}, Done: {done}")
-        if done or truncated:
-            obs, _ = env.reset()
+    try:
+        while True:  # Infinite loop
+            obs, _ = env.reset()  # Unpack the observation from the tuple
+            done = False
+            total_reward = 0.0
 
-    env.close()
+            while not done:
+                # The model predicts an action based on the observation
+                action, _states = model.predict(obs, deterministic=True)
+                
+                # Apply the action in the environment
+                obs, reward, done, _, info = env.step(action)  # Unpack all returned values
+                
+                # Accumulate the reward for this episode
+                total_reward += reward
+
+            print(f"Episode finished: Total Reward: {total_reward}")
+
+    except KeyboardInterrupt:
+        print("Testing interrupted by user. Exiting...")
+
+    finally:
+        # Close the environment properly
+        env.close()
 
 if __name__ == '__main__':
     main()
+
diff --git a/turtlebot3_rl/turtlebot3_rl/train.py b/turtlebot3_rl/turtlebot3_rl/train.py
index 9b98b96..dfb7e88 100644
--- a/turtlebot3_rl/turtlebot3_rl/train.py
+++ b/turtlebot3_rl/turtlebot3_rl/train.py
@@ -1,26 +1,79 @@
-import gym
-from stable_baselines3 import PPO
+'''import gym
+from stable_baselines3 import SAC
+from stable_baselines3.common.monitor import Monitor
 from stable_baselines3.common.env_checker import check_env
+from stable_baselines3.common.callbacks import CheckpointCallback, EvalCallback
 from turtlebot3_rl.env import TurtleBot3Env
-import numpy as np
-np.bool = np.bool_
-
 
 def main():
+    # Initialize the environment
     env = TurtleBot3Env()
-    check_env(env)
+    check_env(env)  # Ensure that the environment adheres to the Stable Baselines3 API
+    
+    # Wrap the environment in a Monitor for logging
+    env = Monitor(env)
+
+    # Define the total number of timesteps for training
+    timesteps = 1000000  # Define this before using it in the lambda function
+
+    # Define the learning rate schedule
+    learning_rate = lambda x: 0.0003 * (1 - x / timesteps)
+
+    # Define the RL algorithm (SAC) with potential adjustments
+    model = SAC("MlpPolicy", env, verbose=1, learning_rate=learning_rate, buffer_size=200000, learning_starts=1000, batch_size=128, tau=0.005, gamma=0.99, train_freq=4, gradient_steps=4, use_sde=True)
+
+    # Callbacks for saving models and evaluation
+    checkpoint_interval = 50000  # Define the interval for saving checkpoints
+    checkpoint_callback = CheckpointCallback(save_freq=checkpoint_interval, save_path='./models/', name_prefix='sac_turtlebot3')
+    eval_callback = EvalCallback(env, best_model_save_path='./models/', log_path='./logs/', eval_freq=checkpoint_interval, deterministic=True)
 
-    # Define the RL algorithm (PPO in this case)
-    model = PPO("MlpPolicy", env, ent_coef=0.01, learning_rate=0.000001, n_steps=2048, batch_size=64, n_epochs=10, clip_range=0.1, verbose=1)
+    # Train the model with checkpoints
+    model.learn(total_timesteps=timesteps, reset_num_timesteps=False, callback=[checkpoint_callback, eval_callback])
 
-    # Train the model
-    model.learn(total_timesteps=1000000)#50000
+    # Save the final model
+    model.save("sac_turtlebot3_final")
+
+    # Close the environment
+    env.close()
+
+if __name__ == '__main__':
+    main()
+'''
+import gym
+from stable_baselines3 import SAC
+from stable_baselines3.common.monitor import Monitor
+from stable_baselines3.common.env_checker import check_env
+from stable_baselines3.common.callbacks import CheckpointCallback, EvalCallback
+from turtlebot3_rl.env import TurtleBot3Env
+
+def main():
+    # Initialize the environment
+    env = TurtleBot3Env()
+    check_env(env)  # Ensure that the environment adheres to the Stable Baselines3 API
     
-    # Save the model
-    model.save("ppo_turtlebot3")
+    # Wrap the environment in a Monitor for logging
+    env = Monitor(env)
+
+    # Define the total number of additional timesteps for training
+    additional_timesteps = 500000  # Define how many more timesteps you want to train
+
+    # Load the existing model
+    model = SAC.load("sac_turtlebot3_final.zip", env=env)
+
+    # Callbacks for saving models and evaluation during continued training
+    checkpoint_interval = 50000  # Define the interval for saving checkpoints
+    checkpoint_callback = CheckpointCallback(save_freq=checkpoint_interval, save_path='./models/', name_prefix='sac_turtlebot3')
+    eval_callback = EvalCallback(env, best_model_save_path='./models/', log_path='./logs/', eval_freq=checkpoint_interval, deterministic=True)
+
+    # Continue training the model with additional timesteps
+    model.learn(total_timesteps=additional_timesteps, reset_num_timesteps=False, callback=[checkpoint_callback, eval_callback])
+
+    # Save the updated model
+    model.save("sac_turtlebot3_final_finetuned")
 
     # Close the environment
     env.close()
 
 if __name__ == '__main__':
     main()
+