diff --git a/com.unity.ml-agents/Editor/RayPerceptionSensorComponentBaseEditor.cs b/com.unity.ml-agents/Editor/RayPerceptionSensorComponentBaseEditor.cs
index 7fdfbc7c5..38c556504 100644
--- a/com.unity.ml-agents/Editor/RayPerceptionSensorComponentBaseEditor.cs
+++ b/com.unity.ml-agents/Editor/RayPerceptionSensorComponentBaseEditor.cs
@@ -64,10 +64,12 @@ namespace Unity.MLAgents.Editor
             }
 
             EditorGUILayout.PropertyField(so.FindProperty("m_AlternatingRayOrder"), true);
+#if UNITY_2022_3_OR_NEWER
             if (is3d)
             {
                 EditorGUILayout.PropertyField(so.FindProperty("m_UseBatchedRaycasts"), true);
             }
+#endif
 
             EditorGUILayout.PropertyField(so.FindProperty("rayHitColor"), true);
             EditorGUILayout.PropertyField(so.FindProperty("rayMissColor"), true);
diff --git a/com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensor.cs b/com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensor.cs
index 55a608666..844d9ec7d 100644
--- a/com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensor.cs
+++ b/com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensor.cs
@@ -74,10 +74,12 @@ namespace Unity.MLAgents.Sensors
         /// </summary>
         public int LayerMask;
 
+#if UNITY_2022_3_OR_NEWER
         /// <summary>
         ///  Whether to use batched raycasts.
         /// </summary>
         public bool UseBatchedRaycasts;
+#endif
 
         /// <summary>
         /// Returns the expected number of floats in the output.
@@ -252,7 +254,9 @@ namespace Unity.MLAgents.Sensors
         RayPerceptionInput m_RayPerceptionInput;
         RayPerceptionOutput m_RayPerceptionOutput;
 
+#if UNITY_2022_3_OR_NEWER
         bool m_UseBatchedRaycasts;
+#endif
 
         /// <summary>
         /// Time.frameCount at the last time Update() was called. This is only used for display in gizmos.
@@ -273,8 +277,9 @@ namespace Unity.MLAgents.Sensors
         {
             m_Name = name;
             m_RayPerceptionInput = rayInput;
+#if UNITY_2022_3_OR_NEWER
             m_UseBatchedRaycasts = rayInput.UseBatchedRaycasts;
-
+#endif
             SetNumObservations(rayInput.OutputSize());
 
             m_DebugLastFrameCount = Time.frameCount;
@@ -348,19 +353,22 @@ namespace Unity.MLAgents.Sensors
             {
                 m_RayPerceptionOutput.RayOutputs = new RayPerceptionOutput.RayOutput[numRays];
             }
-
+#if UNITY_2022_3_OR_NEWER
             if (m_UseBatchedRaycasts && m_RayPerceptionInput.CastType == RayPerceptionCastType.Cast3D)
             {
                 PerceiveBatchedRays(ref m_RayPerceptionOutput.RayOutputs, m_RayPerceptionInput);
             }
             else
             {
-                // For each ray, do the casting and save the results.
-                for (var rayIndex = 0; rayIndex < numRays; rayIndex++)
-                {
-                    m_RayPerceptionOutput.RayOutputs[rayIndex] = PerceiveSingleRay(m_RayPerceptionInput, rayIndex);
-                }
+#endif
+            // For each ray, do the casting and save the results.
+            for (var rayIndex = 0; rayIndex < numRays; rayIndex++)
+            {
+                m_RayPerceptionOutput.RayOutputs[rayIndex] = PerceiveSingleRay(m_RayPerceptionInput, rayIndex);
             }
+#if UNITY_2022_3_OR_NEWER
+            }
+#endif
         }
 
         /// <inheritdoc/>
@@ -406,22 +414,25 @@ namespace Unity.MLAgents.Sensors
         {
             RayPerceptionOutput output = new RayPerceptionOutput();
             output.RayOutputs = new RayPerceptionOutput.RayOutput[input.Angles.Count];
-
+#if UNITY_2022_3_OR_NEWER
             if (batched)
             {
                 PerceiveBatchedRays(ref output.RayOutputs, input);
             }
             else
             {
-                for (var rayIndex = 0; rayIndex < input.Angles.Count; rayIndex++)
-                {
-                    output.RayOutputs[rayIndex] = PerceiveSingleRay(input, rayIndex);
-                }
+#endif
+            for (var rayIndex = 0; rayIndex < input.Angles.Count; rayIndex++)
+            {
+                output.RayOutputs[rayIndex] = PerceiveSingleRay(input, rayIndex);
             }
-
+#if UNITY_2022_3_OR_NEWER
+            }
+#endif
             return output;
         }
 
+#if UNITY_2022_3_OR_NEWER
         /// <summary>
         /// Evaluate the raycast results of all the rays from the RayPerceptionInput as a batch.
         /// </summary>
@@ -548,6 +559,7 @@ namespace Unity.MLAgents.Sensors
             raycastCommands.Dispose();
             spherecastCommands.Dispose();
         }
+#endif
 
         /// <summary>
         /// Evaluate the raycast results of a single ray from the RayPerceptionInput.
diff --git a/com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensorComponentBase.cs b/com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensorComponentBase.cs
index 35c4fd532..35255aaad 100644
--- a/com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensorComponentBase.cs
+++ b/com.unity.ml-agents/Runtime/Sensors/RayPerceptionSensorComponentBase.cs
@@ -145,8 +145,9 @@ namespace Unity.MLAgents.Sensors
             set { m_AlternatingRayOrder = value; }
         }
 
+#if UNITY_2022_3_OR_NEWER
         [HideInInspector, SerializeField]
-        [Tooltip("Enable to use batched raycasts and the jobs system.")]
+        [Tooltip("Enable to use batched raycasts and the jobs system. Only available in Unity 2022.3 LTS or newer.")]
         public bool m_UseBatchedRaycasts = false;
 
         /// <summary>
@@ -157,7 +158,7 @@ namespace Unity.MLAgents.Sensors
             get { return m_UseBatchedRaycasts; }
             set { m_UseBatchedRaycasts = value; }
         }
-
+#endif
 
         /// <summary>
         /// Color to code a ray that hits another object.
@@ -303,8 +304,9 @@ namespace Unity.MLAgents.Sensors
             rayPerceptionInput.Transform = transform;
             rayPerceptionInput.CastType = GetCastType();
             rayPerceptionInput.LayerMask = RayLayerMask;
+#if UNITY_2022_3_OR_NEWER
             rayPerceptionInput.UseBatchedRaycasts = UseBatchedRaycasts;
-
+#endif
             return rayPerceptionInput;
         }
 
@@ -349,6 +351,7 @@ namespace Unity.MLAgents.Sensors
                 // and there's no way to turn off the "Tag ... is not defined" error logs.
                 // So just don't use any tags here.
                 rayInput.DetectableTags = null;
+#if UNITY_2022_3_OR_NEWER
                 if (m_UseBatchedRaycasts && rayInput.CastType == RayPerceptionCastType.Cast3D)
                 {
                     // TODO add call to PerceiveBatchedRays()
@@ -361,12 +364,15 @@ namespace Unity.MLAgents.Sensors
                 }
                 else
                 {
-                    for (var rayIndex = 0; rayIndex < rayInput.Angles.Count; rayIndex++)
-                    {
-                        var rayOutput = RayPerceptionSensor.PerceiveSingleRay(rayInput, rayIndex);
-                        DrawRaycastGizmos(rayOutput);
-                    }
+#endif
+                for (var rayIndex = 0; rayIndex < rayInput.Angles.Count; rayIndex++)
+                {
+                    var rayOutput = RayPerceptionSensor.PerceiveSingleRay(rayInput, rayIndex);
+                    DrawRaycastGizmos(rayOutput);
                 }
+#if UNITY_2022_3_OR_NEWER
+                }
+#endif
             }
         }