diff --git a/com.unity.ml-agents/CHANGELOG.md b/com.unity.ml-agents/CHANGELOG.md
index dab7cb200f5..bde20e3d597 100755
--- a/com.unity.ml-agents/CHANGELOG.md
+++ b/com.unity.ml-agents/CHANGELOG.md
@@ -18,7 +18,7 @@ and this project adheres to
 
 #### com.unity.ml-agents / com.unity.ml-agents.extensions (C#)
 - Added the capacity to initialize behaviors from any checkpoint and not just the latest one (#5525)
-
+- Added the ability to get a read-only view of the stacked observations (#5523)
 #### ml-agents / ml-agents-envs / gym-unity (Python)
 - Set gym version in gym-unity to gym release 0.20.0
 - Added support for having `beta`, `epsilon`, and `learning rate` on separate schedules (affects only PPO and POCA). (#5538)
diff --git a/com.unity.ml-agents/Runtime/Agent.cs b/com.unity.ml-agents/Runtime/Agent.cs
index 4434125fb04..524378535a4 100644
--- a/com.unity.ml-agents/Runtime/Agent.cs
+++ b/com.unity.ml-agents/Runtime/Agent.cs
@@ -320,6 +320,11 @@ internal struct AgentParameters
         /// </summary>
         internal VectorSensor collectObservationsSensor;
 
+        /// <summary>
+        /// StackingSensor which is written to by AddVectorObs
+        /// </summary>
+        internal StackingSensor stackedCollectObservationsSensor;
+
         private RecursionChecker m_CollectObservationsChecker = new RecursionChecker("CollectObservations");
         private RecursionChecker m_OnEpisodeBeginChecker = new RecursionChecker("OnEpisodeBegin");
 
@@ -981,9 +986,9 @@ internal void InitializeSensors()
                 collectObservationsSensor = new VectorSensor(param.VectorObservationSize);
                 if (param.NumStackedVectorObservations > 1)
                 {
-                    var stackingSensor = new StackingSensor(
+                    stackedCollectObservationsSensor = new StackingSensor(
                         collectObservationsSensor, param.NumStackedVectorObservations);
-                    sensors.Add(stackingSensor);
+                    sensors.Add(stackedCollectObservationsSensor);
                 }
                 else
                 {
@@ -1179,6 +1184,17 @@ public ReadOnlyCollection<float> GetObservations()
             return collectObservationsSensor.GetObservations();
         }
 
+        /// <summary>
+        /// Returns a read-only view of the stacked observations that were generated in
+        /// <see cref="CollectObservations(VectorSensor)"/>. This is mainly useful inside of a
+        /// <see cref="Heuristic(in ActionBuffers)"/> method to avoid recomputing the observations.
+        /// </summary>
+        /// <returns>A read-only view of the stacked observations list.</returns>
+        public ReadOnlyCollection<float> GetStackedObservations()
+        {
+            return stackedCollectObservationsSensor.GetStackedObservations();
+        }
+
         /// <summary>
         /// Implement `WriteDiscreteActionMask()` to collects the masks for discrete
         /// actions. When using discrete actions, the agent will not perform the masked
diff --git a/com.unity.ml-agents/Runtime/Sensors/StackingSensor.cs b/com.unity.ml-agents/Runtime/Sensors/StackingSensor.cs
index 50a80c286ae..710c58a821c 100644
--- a/com.unity.ml-agents/Runtime/Sensors/StackingSensor.cs
+++ b/com.unity.ml-agents/Runtime/Sensors/StackingSensor.cs
@@ -1,4 +1,6 @@
 using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
 using System.Linq;
 using UnityEngine;
 using Unity.Barracuda;
@@ -279,5 +281,20 @@ public BuiltInSensorType GetBuiltInSensorType()
             IBuiltInSensor wrappedBuiltInSensor = m_WrappedSensor as IBuiltInSensor;
             return wrappedBuiltInSensor?.GetBuiltInSensorType() ?? BuiltInSensorType.Unknown;
         }
+
+        /// <summary>
+        /// Returns the stacked observations as a read-only collection.
+        /// </summary>
+        /// <returns>The stacked observations as a read-only collection.</returns>
+        internal ReadOnlyCollection<float> GetStackedObservations()
+        {
+            List<float> observations = new List<float>();
+            for (var i = 0; i < m_NumStackedObservations; i++)
+            {
+                var obsIndex = (m_CurrentIndex + 1 + i) % m_NumStackedObservations;
+                observations.AddRange(m_StackedObservations[obsIndex].ToList());
+            }
+            return observations.AsReadOnly();
+        }
     }
 }
diff --git a/com.unity.ml-agents/Tests/Runtime/Sensor/StackingSensorTests.cs b/com.unity.ml-agents/Tests/Runtime/Sensor/StackingSensorTests.cs
index 2fe44646fe4..52fadf16c8e 100644
--- a/com.unity.ml-agents/Tests/Runtime/Sensor/StackingSensorTests.cs
+++ b/com.unity.ml-agents/Tests/Runtime/Sensor/StackingSensorTests.cs
@@ -76,29 +76,41 @@ public void AssertStackingReset()
         public void TestVectorStacking()
         {
             VectorSensor wrapped = new VectorSensor(2);
-            ISensor sensor = new StackingSensor(wrapped, 3);
+            StackingSensor sensor = new StackingSensor(wrapped, 3);
 
             wrapped.AddObservation(new[] { 1f, 2f });
             SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 0f, 0f, 1f, 2f });
+            var data = sensor.GetStackedObservations();
+            Assert.IsTrue(data.ToArray().SequenceEqual(new[] { 0f, 0f, 0f, 0f, 1f, 2f }));
 
             sensor.Update();
             wrapped.AddObservation(new[] { 3f, 4f });
             SensorTestHelper.CompareObservation(sensor, new[] { 0f, 0f, 1f, 2f, 3f, 4f });
+            data = sensor.GetStackedObservations();
+            Assert.IsTrue(data.ToArray().SequenceEqual(new[] { 0f, 0f, 1f, 2f, 3f, 4f }));
 
             sensor.Update();
             wrapped.AddObservation(new[] { 5f, 6f });
             SensorTestHelper.CompareObservation(sensor, new[] { 1f, 2f, 3f, 4f, 5f, 6f });
+            data = sensor.GetStackedObservations();
+            Assert.IsTrue(data.ToArray().SequenceEqual(new[] { 1f, 2f, 3f, 4f, 5f, 6f }));
 
             sensor.Update();
             wrapped.AddObservation(new[] { 7f, 8f });
             SensorTestHelper.CompareObservation(sensor, new[] { 3f, 4f, 5f, 6f, 7f, 8f });
+            data = sensor.GetStackedObservations();
+            Assert.IsTrue(data.ToArray().SequenceEqual(new[] { 3f, 4f, 5f, 6f, 7f, 8f }));
 
             sensor.Update();
             wrapped.AddObservation(new[] { 9f, 10f });
             SensorTestHelper.CompareObservation(sensor, new[] { 5f, 6f, 7f, 8f, 9f, 10f });
+            data = sensor.GetStackedObservations();
+            Assert.IsTrue(data.ToArray().SequenceEqual(new[] { 5f, 6f, 7f, 8f, 9f, 10f }));
 
             // Check that if we don't call Update(), the same observations are produced
             SensorTestHelper.CompareObservation(sensor, new[] { 5f, 6f, 7f, 8f, 9f, 10f });
+            data = sensor.GetStackedObservations();
+            Assert.IsTrue(data.ToArray().SequenceEqual(new[] { 5f, 6f, 7f, 8f, 9f, 10f }));
         }
 
         [Test]