diff --git a/scratch/johannes/intersimple/idm.py b/scratch/johannes/intersimple/idm.py
new file mode 100644
index 0000000..1d1c223
--- /dev/null
+++ b/scratch/johannes/intersimple/idm.py
@@ -0,0 +1,57 @@
+# %%
+import torch
+from src.baselines.rule_policies import IDMRulePolicy
+from tqdm import tqdm
+
+# expert_data = torch.load('intersimple-expert-data-setobs2.pt')
+# states, actions, _, dones = expert_data
+
+# policy = SetPolicy(actions.shape[-1])
+
+# policy = policy.cuda()
+# optim = torch.optim.Adam(policy.parameters(), lr=1e-4)
+# states = states[~dones].cuda()
+# actions = actions[~dones].cuda()
+
+# for _ in tqdm(range(10000)):
+#     optim.zero_grad()
+#     loss = -policy.log_prob(policy(states), actions).mean()
+#     loss.backward()
+#     optim.step()
+
+#     print('Loss', loss)
+
+# torch.save(policy.state_dict(), 'bc-intersimple-setobs2.pt')
+
+# %%
+# import numpy as np
+# from core.policy import SetPolicy
+# from util.wrappers import Setobs, TransformObservation, CollisionPenaltyWrapper
+from intersim.envs import NRasterizedIncrementingAgent, NRasterizedRandomAgent
+from intersim.envs.intersimple import speed_reward
+import functools
+
+
+env = NRasterizedRandomAgent(
+    # agent = 4,
+    reward=functools.partial(
+        speed_reward,
+        collision_penalty=0
+    ),
+    stop_on_collision=False,
+)
+policy = IDMRulePolicy(env)
+
+obs = env.reset()
+env.render(mode='post')
+for i in range(1000):
+    action, _ = policy.predict(torch.tensor(obs))
+    # action = policy.sample(policy(torch.tensor(obs, dtype=torch.float32)))
+    obs, reward, done, _ = env.step(action)
+    env.render(mode='post')
+    print('step', i, 'reward', reward)
+    if done:
+        obs = env.reset()
+env.close()
+
+# %%