diff --git a/scratch/etienne/intersimple/airl_flat.py b/scratch/etienne/intersimple/airl_flat.py
new file mode 100644
index 0000000..e21a38a
--- /dev/null
+++ b/scratch/etienne/intersimple/airl_flat.py
@@ -0,0 +1,64 @@
+# %%
+import pathlib
+import pickle
+import tempfile
+
+import stable_baselines3 as sb3
+from stable_baselines3.common.env_util import make_vec_env
+
+from imitation.algorithms import adversarial, bc
+from imitation.data import rollout
+from imitation.util import logger
+
+from intersim.envs.intersimple import IntersimpleReward
+
+model_name = 'airl_flat'
+
+# Load pickled test demonstrations.
+with open("data/NormalizedIntersimpleExpert_IntersimpleRewardAgent51.pkl", "rb") as f:
+    # This is a list of `imitation.data.types.Trajectory`, where
+    # every instance contains observations and actions for a single expert
+    # demonstration.
+    trajectories = pickle.load(f)
+
+# %%
+# Convert List[types.Trajectory] to an instance of `imitation.data.types.Transitions`.
+# This is a more general dataclass containing unordered
+# (observation, actions, next_observation) transitions.
+transitions = rollout.flatten_trajectories(trajectories)
+
+venv = make_vec_env(IntersimpleReward, n_envs=2, env_kwargs={'agent': 51})
+
+tempdir = tempfile.TemporaryDirectory(prefix="quickstart")
+tempdir_path = pathlib.Path(tempdir.name)
+print(f"All Tensorboards and logging are being written inside {tempdir_path}/.")
+
+# Train AIRL on expert data.
+# GAIL, and AIRL also accept as `expert_data` any Pytorch-style DataLoader that
+# iterates over dictionaries containing observations, actions, and next_observations.
+logger.configure(tempdir_path / "AIRL/")
+airl_trainer = adversarial.AIRL(
+    venv,
+    expert_data=transitions,
+    expert_batch_size=64,
+    gen_algo=sb3.PPO("MlpPolicy", venv, verbose=1, n_steps=1024), # n_steps = 2048 ?
+)
+airl_trainer.train(total_timesteps=100000)
+airl_trainer.gen_algo.save(model_name)
+
+del airl_trainer
+
+# %%
+model = sb3.PPO.load(model_name)
+
+env = IntersimpleReward(agent=51)
+
+obs = env.reset()
+while True:
+    action, _states = model.predict(obs)
+    obs, rewards, done, info = env.step(action)
+    env.render(mode='post')
+    if done:
+        break
+
+env.close(filestr='render/'+model_name)
\ No newline at end of file
diff --git a/scratch/etienne/intersimple/bc_flat b/scratch/etienne/intersimple/bc_flat
new file mode 100644
index 0000000..148f405
Binary files /dev/null and b/scratch/etienne/intersimple/bc_flat differ
diff --git a/scratch/etienne/intersimple/bc_flat.py b/scratch/etienne/intersimple/bc_flat.py
new file mode 100644
index 0000000..2011a06
--- /dev/null
+++ b/scratch/etienne/intersimple/bc_flat.py
@@ -0,0 +1,59 @@
+# %%
+import pathlib
+import pickle
+import tempfile
+
+import stable_baselines3 as sb3
+from stable_baselines3.common.env_util import make_vec_env
+
+from imitation.algorithms import adversarial, bc
+from imitation.data import rollout
+from imitation.util import logger
+
+from intersim.envs.intersimple import IntersimpleReward
+
+model_name = 'bc_flat'
+
+# Load pickled test demonstrations.
+with open("data/NormalizedIntersimpleExpert_IntersimpleRewardAgent51.pkl", "rb") as f:
+    # This is a list of `imitation.data.types.Trajectory`, where
+    # every instance contains observations and actions for a single expert
+    # demonstration.
+    trajectories = pickle.load(f)
+
+# %%
+# Convert List[types.Trajectory] to an instance of `imitation.data.types.Transitions`.
+# This is a more general dataclass containing unordered
+# (observation, actions, next_observation) transitions.
+transitions = rollout.flatten_trajectories(trajectories)
+
+venv = make_vec_env(IntersimpleReward, n_envs=2, env_kwargs={'agent': 51})
+
+tempdir = tempfile.TemporaryDirectory(prefix="quickstart")
+tempdir_path = pathlib.Path(tempdir.name)
+print(f"All Tensorboards and logging are being written inside {tempdir_path}/.")
+
+# Train BC on expert data.
+# BC also accepts as `expert_data` any PyTorch-style DataLoader that iterates over
+# dictionaries containing observations and actions.
+logger.configure(tempdir_path / "BC/")
+bc_trainer = bc.BC(venv.observation_space, venv.action_space, expert_data=transitions)
+bc_trainer.train(n_epochs=1000)
+bc_trainer.save_policy(model_name)
+
+del bc_trainer
+
+# %%
+model = bc.reconstruct_policy(model_name)
+
+env = IntersimpleReward(agent=51)
+
+obs = env.reset()
+while True:
+    action, _states = model.predict(obs)
+    obs, rewards, done, info = env.step(action)
+    env.render(mode='post')
+    if done:
+        break
+
+env.close(filestr='render/'+model_name)
diff --git a/scratch/etienne/intersimple/data/NormalizedIntersimpleExpert_IntersimpleRewardAgent51.pkl b/scratch/etienne/intersimple/data/NormalizedIntersimpleExpert_IntersimpleRewardAgent51.pkl
new file mode 100644
index 0000000..27be74d
Binary files /dev/null and b/scratch/etienne/intersimple/data/NormalizedIntersimpleExpert_IntersimpleRewardAgent51.pkl differ
diff --git a/scratch/etienne/intersimple/data/NormalizedIntersimpleExpert_NRasterizedAgent51.pkl b/scratch/etienne/intersimple/data/NormalizedIntersimpleExpert_NRasterizedAgent51.pkl
new file mode 100644
index 0000000..f875544
Binary files /dev/null and b/scratch/etienne/intersimple/data/NormalizedIntersimpleExpert_NRasterizedAgent51.pkl differ
diff --git a/scratch/etienne/intersimple/data/expert.py b/scratch/etienne/intersimple/data/expert.py
new file mode 100644
index 0000000..e844cd9
--- /dev/null
+++ b/scratch/etienne/intersimple/data/expert.py
@@ -0,0 +1,108 @@
+from intersim.envs.intersimple import Intersimple
+from stable_baselines3.common.policies import BasePolicy
+import gym
+import intersim.envs.intersimple
+import imitation.data.rollout as rollout
+from stable_baselines3.common.vec_env.dummy_vec_env import DummyVecEnv
+from imitation.data.wrappers import RolloutInfoWrapper
+
+class IntersimExpert(BasePolicy):
+    
+    def __init__(self, intersim_env, mu=0, *args, **kwargs):
+        super().__init__(
+            observation_space=gym.spaces.Space(),
+            action_space=gym.spaces.Space(),
+            *args, **kwargs
+        )
+        self._intersim = intersim_env
+        self._mu = mu
+
+    def forward(self, *args, **kwargs):
+        raise NotImplementedError()
+
+    def _predict(self, *args, **kwargs):
+        raise NotImplementedError()
+
+    def _action(self):
+        target_t = min(self._intersim._ind + 1, len(self._intersim._svt.simstate) - 1)
+        target_state = self._intersim._svt.simstate[target_t]
+        return self._intersim.target_state(target_state, mu=self._mu)
+
+    def predict(self, *args, **kwargs):
+        return self._action(), None
+
+class IntersimpleExpert(BasePolicy):
+
+    def __init__(self, intersimple_env, mu=0, *args, **kwargs):
+        super().__init__(
+            observation_space=intersimple_env.observation_space,
+            action_space=intersimple_env.action_space,
+            *args, **kwargs
+        )
+        self._intersimple = intersimple_env
+        self._intersim_expert = IntersimExpert(intersimple_env._env, mu=mu)
+    
+    def forward(self, *args, **kwargs):
+        raise NotImplementedError()
+
+    def _predict(self, *args, **kwargs):
+        raise NotImplementedError()
+
+    def _action(self):
+        return self._intersim_expert._action()[self._intersimple._agent]
+
+    def predict(self, *args, **kwargs):
+        return self._action(), None
+
+class NormalizedIntersimpleExpert(IntersimpleExpert):
+
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+
+    def predict(self, *args, **kwargs):
+        action, _ = super().predict(*args, **kwargs)
+        return self._intersimple._normalize(action), None
+
+class DummyVecEnvPolicy():
+
+    def __init__(self, experts):
+        self._experts = [e() for e in experts]
+    
+    def predict(self, *args, **kwargs):
+        predictions = [e.predict() for e in self._experts]
+        actions = [p[0] for p in predictions]
+        states = [p[1] for p in predictions]
+        return actions, states
+
+def demonstrations(expert='NormalizedIntersimpleExpert', env='NRasterizedRandomAgent', path=None, min_timesteps=25000, min_episodes=None, env_args={}, policy_args={}):
+    """Rollout and save expert demos.
+    
+    Usage:
+        python -m intersimple.expert <flags>
+
+    """
+    Env = intersim.envs.intersimple.__dict__[env]
+    Expert = globals()[expert]
+
+    env = Env(**env_args)
+    info_env = RolloutInfoWrapper(env)
+    venv = DummyVecEnv([lambda: info_env])
+
+    policy = Expert(env, **policy_args)
+    venv_policy = DummyVecEnvPolicy([lambda: policy])
+    
+    path = path or (policy.__class__.__name__ + '_' + env.__class__.__name__ + '.pkl')
+
+    rollout.rollout_and_save(
+        path=path,
+        policy=venv_policy,
+        venv=venv,
+        sample_until=rollout.make_sample_until(
+            min_timesteps=min_timesteps,
+            min_episodes=min_episodes,
+        )
+    )
+
+if __name__ == '__main__':
+    import fire
+    fire.Fire(demonstrations)
diff --git a/scratch/etienne/intersimple/gail/discriminator.py b/scratch/etienne/intersimple/gail/discriminator.py
new file mode 100644
index 0000000..8f26343
--- /dev/null
+++ b/scratch/etienne/intersimple/gail/discriminator.py
@@ -0,0 +1,51 @@
+import torch
+
+class CnnDiscriminator(torch.nn.Module):
+    """ConvNet similar to stable_baselines3.common.policies.ActorCriticCnnPolicy."""
+
+    def __init__(self, env):
+        super().__init__()
+        print('venv obs', env.observation_space.shape)
+
+        obs_channels, _, _ = env.observation_space.shape
+        (action_size,) = env.action_space.shape
+        in_channels = obs_channels + action_size
+
+        self.cnn = torch.nn.Sequential(
+            torch.nn.Conv2d(in_channels, 32, kernel_size=(8, 8), stride=(4, 4)), # 5+1 -> 32
+            torch.nn.ReLU(),
+            torch.nn.Conv2d(32, 64, kernel_size=(4, 4), stride=(2, 2)), # 32 -> 64
+            torch.nn.ReLU(),
+            torch.nn.Conv2d(64, 64, kernel_size=(3, 3), stride=(1, 1)), # 64 -> 64
+            torch.nn.ReLU(),
+            torch.nn.Flatten(start_dim=1, end_dim=-1),
+            torch.nn.LazyLinear(512), # 28224 -> 512
+            torch.nn.ReLU(),
+            torch.nn.LazyLinear(1), # 512 -> 1
+        )
+    
+    def forward(self, state, action):
+        b, _, h, w = state.shape
+        _, a = action.shape
+        act_layer = action.unsqueeze(-1).unsqueeze(-1).expand((b, a, h, w))
+        sa = torch.cat((act_layer, state), -3)
+        return self.cnn(sa).squeeze()
+
+class MlpDiscriminator(torch.nn.Module):
+    """MLP similar to stable_baselines3.common.policies.ActorCriticPolicy."""
+
+    def __init__(self, env=None):
+        super().__init__()
+        self.flatten = torch.nn.Flatten(start_dim=1, end_dim=-1)
+        self.mlp = torch.nn.Sequential(
+            torch.nn.LazyLinear(64), # 42 -> 64
+            torch.nn.Tanh(),
+            torch.nn.LazyLinear(64), # 64 -> 64
+            torch.nn.Tanh(),
+            torch.nn.LazyLinear(1),  # 64 -> 1
+        )
+    
+    def forward(self, state, action):
+        flat = self.flatten(state)
+        sa = torch.cat((action, flat), -1)
+        return self.mlp(sa).squeeze()
diff --git a/scratch/etienne/intersimple/gail_flat.py b/scratch/etienne/intersimple/gail_flat.py
new file mode 100644
index 0000000..86af50e
--- /dev/null
+++ b/scratch/etienne/intersimple/gail_flat.py
@@ -0,0 +1,69 @@
+# %%
+import pathlib
+import pickle
+import tempfile
+
+import stable_baselines3 as sb3
+from stable_baselines3.common.env_util import make_vec_env
+
+from imitation.algorithms import adversarial, bc
+from imitation.data import rollout
+from imitation.util import logger
+
+from intersim.envs.intersimple import IntersimpleReward
+
+from gail.discriminator import MlpDiscriminator
+
+model_name = 'gail_flat'
+
+# %%
+# Load pickled test demonstrations.
+with open("data/NormalizedIntersimpleExpert_IntersimpleRewardAgent51.pkl", "rb") as f:
+    # This is a list of `imitation.data.types.Trajectory`, where
+    # every instance contains observations and actions for a single expert
+    # demonstration.
+    trajectories = pickle.load(f)
+
+# %%
+# Convert List[types.Trajectory] to an instance of `imitation.data.types.Transitions`.
+# This is a more general dataclass containing unordered
+# (observation, actions, next_observation) transitions.
+transitions = rollout.flatten_trajectories(trajectories)
+
+venv = make_vec_env(IntersimpleReward, n_envs=2, env_kwargs={'agent': 51})
+
+tempdir = tempfile.TemporaryDirectory(prefix="quickstart")
+tempdir_path = pathlib.Path(tempdir.name)
+print(f"All Tensorboards and logging are being written inside {tempdir_path}/.")
+
+# Train GAIL on expert data.
+# GAIL, and AIRL also accept as `expert_data` any Pytorch-style DataLoader that
+# iterates over dictionaries containing observations, actions, and next_observations.
+logger.configure(tempdir_path / "GAIL/")
+gail_trainer = adversarial.GAIL(
+    venv,
+    expert_data=transitions,
+    expert_batch_size=220,
+    #n_disc_updates_per_round=32,
+    discrim_kwargs={'discrim_net': MlpDiscriminator()},
+    gen_algo=sb3.PPO("MlpPolicy", venv, verbose=1, n_steps=4096),
+)
+gail_trainer.train(total_timesteps=80000)
+gail_trainer.gen_algo.save(model_name)
+
+#del gail_trainer
+
+# %%
+model = sb3.PPO.load(model_name)
+
+env = IntersimpleReward(agent=51)
+
+obs = env.reset()
+while True:
+    action, _states = model.predict(obs)
+    obs, rewards, done, info = env.step(action)
+    env.render(mode='post')
+    if done:
+        break
+
+env.close(filestr='render/'+model_name)
diff --git a/scratch/etienne/intersimple/gail_image.py b/scratch/etienne/intersimple/gail_image.py
new file mode 100644
index 0000000..1f0ba6a
--- /dev/null
+++ b/scratch/etienne/intersimple/gail_image.py
@@ -0,0 +1,69 @@
+# %%
+import pathlib
+import pickle
+import tempfile
+
+import stable_baselines3 as sb3
+from stable_baselines3.common.env_util import make_vec_env
+
+from imitation.algorithms import adversarial, bc
+from imitation.data import rollout
+from imitation.util import logger
+
+from intersim.envs.intersimple import NRasterized
+
+from gail.discriminator import CnnDiscriminator
+
+model_name = 'gail_image'
+
+# %%
+# Load pickled test demonstrations.
+with open("data/NormalizedIntersimpleExpert_NRasterizedAgent51.pkl", "rb") as f:
+    # This is a list of `imitation.data.types.Trajectory`, where
+    # every instance contains observations and actions for a single expert
+    # demonstration.
+    trajectories = pickle.load(f)
+
+# %%
+# Convert List[types.Trajectory] to an instance of `imitation.data.types.Transitions`.
+# This is a more general dataclass containing unordered
+# (observation, actions, next_observation) transitions.
+transitions = rollout.flatten_trajectories(trajectories)
+
+venv = make_vec_env(NRasterized, n_envs=2, env_kwargs={'agent': 51})
+
+tempdir = tempfile.TemporaryDirectory(prefix="quickstart")
+tempdir_path = pathlib.Path(tempdir.name)
+print(f"All Tensorboards and logging are being written inside {tempdir_path}/.")
+
+# Train GAIL on expert data.
+# GAIL, and AIRL also accept as `expert_data` any Pytorch-style DataLoader that
+# iterates over dictionaries containing observations, actions, and next_observations.
+logger.configure(tempdir_path / "GAIL/")
+gail_trainer = adversarial.GAIL(
+    venv,
+    expert_data=transitions,
+    expert_batch_size=200,
+    n_disc_updates_per_round=2048,
+    discrim_kwargs={'discrim_net': CnnDiscriminator(venv)},
+    gen_algo=sb3.PPO("CnnPolicy", venv, verbose=1, n_steps=128),
+)
+gail_trainer.train(total_timesteps=100000)
+gail_trainer.gen_algo.save(model_name)
+
+#del gail_trainer
+
+# %%
+model = sb3.PPO.load(model_name)
+
+env = NRasterized(agent=51)
+
+obs = env.reset()
+while True:
+    action, _states = model.predict(obs)
+    obs, rewards, done, info = env.step(action)
+    env.render(mode='post')
+    if done:
+        break
+
+env.close(filestr='render/'+model_name)
diff --git a/scratch/etienne/intersimple/imitation_quickstart.py b/scratch/etienne/intersimple/imitation_quickstart.py
new file mode 100644
index 0000000..996519f
--- /dev/null
+++ b/scratch/etienne/intersimple/imitation_quickstart.py
@@ -0,0 +1,63 @@
+# %%
+import pathlib
+import pickle
+import tempfile
+
+import stable_baselines3 as sb3
+from stable_baselines3.common.env_util import make_vec_env
+
+from imitation.algorithms import adversarial, bc
+from imitation.data import rollout
+from imitation.util import logger
+
+from intersim.envs.intersimple import IntersimpleReward
+
+# Load pickled test demonstrations.
+with open("data/NormalizedIntersimpleExpert_IntersimpleRewardAgent51.pkl", "rb") as f:
+    # This is a list of `imitation.data.types.Trajectory`, where
+    # every instance contains observations and actions for a single expert
+    # demonstration.
+    trajectories = pickle.load(f)
+
+# %%
+# Convert List[types.Trajectory] to an instance of `imitation.data.types.Transitions`.
+# This is a more general dataclass containing unordered
+# (observation, actions, next_observation) transitions.
+transitions = rollout.flatten_trajectories(trajectories)
+
+venv = make_vec_env(IntersimpleReward, n_envs=2, env_kwargs={'agent': 51})
+
+tempdir = tempfile.TemporaryDirectory(prefix="quickstart")
+tempdir_path = pathlib.Path(tempdir.name)
+print(f"All Tensorboards and logging are being written inside {tempdir_path}/.")
+
+# Train BC on expert data.
+# BC also accepts as `expert_data` any PyTorch-style DataLoader that iterates over
+# dictionaries containing observations and actions.
+logger.configure(tempdir_path / "BC/")
+bc_trainer = bc.BC(venv.observation_space, venv.action_space, expert_data=transitions)
+bc_trainer.train(n_epochs=1)
+
+# Train GAIL on expert data.
+# GAIL, and AIRL also accept as `expert_data` any Pytorch-style DataLoader that
+# iterates over dictionaries containing observations, actions, and next_observations.
+logger.configure(tempdir_path / "GAIL/")
+gail_trainer = adversarial.GAIL(
+    venv,
+    expert_data=transitions,
+    expert_batch_size=32,
+    gen_algo=sb3.PPO("MlpPolicy", venv, verbose=1, n_steps=1024),
+)
+gail_trainer.train(total_timesteps=2048)
+
+# Train AIRL on expert data.
+logger.configure(tempdir_path / "AIRL/")
+airl_trainer = adversarial.AIRL(
+    venv,
+    expert_data=transitions,
+    expert_batch_size=32,
+    gen_algo=sb3.PPO("MlpPolicy", venv, verbose=1, n_steps=1024),
+)
+airl_trainer.train(total_timesteps=2048)
+
+# %%
diff --git a/scratch/etienne/intersimple/ppo_const.py b/scratch/etienne/intersimple/ppo_const.py
new file mode 100644
index 0000000..7fb598f
--- /dev/null
+++ b/scratch/etienne/intersimple/ppo_const.py
@@ -0,0 +1,36 @@
+# %%
+from stable_baselines3 import PPO
+from stable_baselines3.common.env_util import make_vec_env
+from intersim.envs.intersimple import IntersimpleReward, speed_reward
+
+model_name = "ppo_const"
+
+env = IntersimpleReward(
+    agent=51,
+    #reward=speed_reward,
+)
+
+# %%
+model = PPO(
+    "MlpPolicy", env,
+    verbose=1,
+)
+model.learn(total_timesteps=100000)
+model.save(model_name)
+
+print('Done training.')
+
+del model # remove to demonstrate saving and loading
+
+# %%
+model = PPO.load(model_name)
+
+obs = env.reset()
+while True:
+    action, _states = model.predict(obs)
+    obs, rewards, done, info = env.step(action)
+    env.render(mode='post')
+    if done:
+        break
+
+env.close(filestr='render/'+model_name)
diff --git a/scratch/etienne/intersimple/ppo_const_collision.py b/scratch/etienne/intersimple/ppo_const_collision.py
new file mode 100644
index 0000000..ab535c8
--- /dev/null
+++ b/scratch/etienne/intersimple/ppo_const_collision.py
@@ -0,0 +1,41 @@
+# %%
+from stable_baselines3 import PPO
+from stable_baselines3.common.env_util import make_vec_env
+from intersim.envs.intersimple import ConstCollisionReward, IntersimpleFlatAgent
+
+model_name = "ppo_const_collision"
+
+class IntersimpleConstCollisionAgent(ConstCollisionReward, IntersimpleFlatAgent):
+    pass
+
+env = IntersimpleConstCollisionAgent(
+    agent=51,
+    speed_reward_weight=0.001,
+    collision_penalty=1000
+)
+
+# %%
+model = PPO(
+    "MlpPolicy", env,
+    learning_rate=3e-6,
+    verbose=1,
+)
+model.learn(total_timesteps=2e5)
+model.save(model_name)
+
+print('Done training.')
+
+del model # remove to demonstrate saving and loading
+
+# %%
+model = PPO.load(model_name)
+
+obs = env.reset()
+while True:
+    action, _states = model.predict(obs)
+    obs, rewards, done, info = env.step(action)
+    env.render(mode='post')
+    if done:
+        break
+
+env.close(filestr='render/'+model_name)
diff --git a/scratch/etienne/intersimple/ppo_const_image.py b/scratch/etienne/intersimple/ppo_const_image.py
new file mode 100644
index 0000000..eb05b46
--- /dev/null
+++ b/scratch/etienne/intersimple/ppo_const_image.py
@@ -0,0 +1,35 @@
+# %%
+from stable_baselines3 import PPO
+from stable_baselines3.common.env_util import make_vec_env
+from intersim.envs.intersimple import NRasterized
+
+model_name = "ppo_const_image"
+
+env = NRasterized(
+    agent=51,
+)
+
+# %%
+model = PPO(
+    "CnnPolicy", env,
+    verbose=1,
+)
+model.learn(total_timesteps=100000)
+model.save(model_name)
+
+print('Done training.')
+
+del model # remove to demonstrate saving and loading
+
+# %%
+model = PPO.load(model_name)
+
+obs = env.reset()
+while True:
+    action, _states = model.predict(obs)
+    obs, rewards, done, info = env.step(action)
+    env.render(mode='post')
+    if done:
+        break
+
+env.close(filestr='render/'+model_name)
\ No newline at end of file
diff --git a/scratch/etienne/intersimple/ppo_const_image_random.py b/scratch/etienne/intersimple/ppo_const_image_random.py
new file mode 100644
index 0000000..da99f18
--- /dev/null
+++ b/scratch/etienne/intersimple/ppo_const_image_random.py
@@ -0,0 +1,33 @@
+# %%
+from stable_baselines3 import PPO
+from intersim.envs.intersimple import NRasterizedRandomAgent
+import functools
+
+model_name = "ppo_const_image_random"
+
+env = NRasterizedRandomAgent()
+
+# %%
+model = PPO(
+    "CnnPolicy", env,
+    verbose=1,
+)
+model.learn(total_timesteps=2e5)
+model.save(model_name)
+
+print('Done training.')
+
+del model # remove to demonstrate saving and loading
+
+# %%
+model = PPO.load(model_name)
+
+obs = env.reset()
+while True:
+    action, _states = model.predict(obs)
+    obs, rewards, done, info = env.step(action)
+    env.render(mode='post')
+    if done:
+        break
+
+env.close(filestr='render/'+model_name)
diff --git a/scratch/etienne/intersimple/ppo_intersimple_tspeed.py b/scratch/etienne/intersimple/ppo_intersimple_tspeed.py
new file mode 100644
index 0000000..3d915f5
--- /dev/null
+++ b/scratch/etienne/intersimple/ppo_intersimple_tspeed.py
@@ -0,0 +1,25 @@
+from stable_baselines3 import PPO
+from stable_baselines3.common.env_util import make_vec_env
+from intersim.envs.intersimple import IntersimpleTargetSpeed
+
+env = IntersimpleTargetSpeed()
+
+model = PPO("MlpPolicy", env, verbose=1)
+model.learn(total_timesteps=25000)
+model.save("ppo_intersimple")
+
+print('Done training.')
+
+del model # remove to demonstrate saving and loading
+
+model = PPO.load("ppo_intersimple")
+
+obs = env.reset()
+while True:
+    action, _states = model.predict(obs)
+    obs, rewards, done, info = env.step(action)
+    env.render(mode='post')
+    if done:
+        break
+
+env.close()
diff --git a/scratch/etienne/intersimple/ppo_speed.py b/scratch/etienne/intersimple/ppo_speed.py
new file mode 100644
index 0000000..1aa911b
--- /dev/null
+++ b/scratch/etienne/intersimple/ppo_speed.py
@@ -0,0 +1,46 @@
+# %%
+from stable_baselines3 import PPO
+from intersim.envs.intersimple import IntersimpleReward, speed_reward
+import functools
+
+model_name = "ppo_speed"
+
+#def reward(state, action, info):
+#    speed = state[2].item()
+#    r = speed if speed < 10 else (10 - 5 * (speed - 10))
+#    return 0.1 * r
+
+env = IntersimpleReward(
+    agent=51,
+    reward=functools.partial(
+        speed_reward,
+        collision_penalty=0
+    ),
+)
+
+# %%
+model = PPO(
+    "MlpPolicy", env,
+    verbose=1,
+)
+model.learn(total_timesteps=100000)
+model.save(model_name)
+
+print('Done training.')
+
+del model # remove to demonstrate saving and loading
+
+# %%
+model = PPO.load(model_name)
+
+obs = env.reset()
+while True:
+    action, _states = model.predict(obs)
+    obs, rewards, done, info = env.step(action)
+    env.render(mode='post')
+    if done:
+        break
+
+env.close(filestr='render/'+model_name)
+
+# %%
diff --git a/scratch/etienne/intersimple/ppo_speed_image.py b/scratch/etienne/intersimple/ppo_speed_image.py
new file mode 100644
index 0000000..2ac95d8
--- /dev/null
+++ b/scratch/etienne/intersimple/ppo_speed_image.py
@@ -0,0 +1,46 @@
+# %%
+from stable_baselines3 import PPO
+from intersim.envs.intersimple import NRasterized, speed_reward
+import functools
+
+model_name = "ppo_speed_image"
+
+#def reward(state, action, info):
+#    speed = state[2].item()
+#    r = speed if speed < 10 else (10 - 5 * (speed - 10))
+#    return 0.1 * r
+
+env = NRasterized(
+    agent=20,
+    reward=functools.partial(
+        speed_reward,
+        collision_penalty=0
+    ),
+)
+
+# %%
+model = PPO(
+    "CnnPolicy", env,
+    verbose=1,
+)
+model.learn(total_timesteps=100000)
+model.save(model_name)
+
+print('Done training.')
+
+del model # remove to demonstrate saving and loading
+
+# %%
+model = PPO.load(model_name)
+
+obs = env.reset()
+while True:
+    action, _states = model.predict(obs)
+    obs, rewards, done, info = env.step(action)
+    env.render(mode='post')
+    if done:
+        break
+
+env.close(filestr='render/'+model_name)
+
+# %%
diff --git a/scratch/etienne/intersimple/ppo_speed_image_random.py b/scratch/etienne/intersimple/ppo_speed_image_random.py
new file mode 100644
index 0000000..26fe9e0
--- /dev/null
+++ b/scratch/etienne/intersimple/ppo_speed_image_random.py
@@ -0,0 +1,39 @@
+# %%
+from stable_baselines3 import PPO
+from intersim.envs.intersimple import NRasterizedRandomAgent, speed_reward
+import functools
+
+model_name = "ppo_speed_image_random"
+
+env = NRasterizedRandomAgent(
+    reward=functools.partial(
+        speed_reward,
+        collision_penalty=0
+    )
+)
+
+# %%
+model = PPO(
+    "CnnPolicy", env,
+    verbose=1,
+    batch_size=2048,
+)
+model.learn(total_timesteps=2e5)
+model.save(model_name)
+
+print('Done training.')
+
+del model # remove to demonstrate saving and loading
+
+# %%
+model = PPO.load(model_name)
+
+obs = env.reset()
+while True:
+    action, _states = model.predict(obs)
+    obs, rewards, done, info = env.step(action)
+    env.render(mode='post')
+    if done:
+        break
+
+env.close(filestr='render/'+model_name)
diff --git a/scratch/etienne/intersimple/ppo_speed_random.py b/scratch/etienne/intersimple/ppo_speed_random.py
new file mode 100644
index 0000000..1c5b55f
--- /dev/null
+++ b/scratch/etienne/intersimple/ppo_speed_random.py
@@ -0,0 +1,43 @@
+# %%
+from stable_baselines3 import PPO
+from intersim.envs.intersimple import IntersimpleFlatRandomAgent, Reward, RewardVisualization, speed_reward
+import functools
+
+model_name = "ppo_speed_random"
+
+class IntersimpleRewardRandom(RewardVisualization, Reward, IntersimpleFlatRandomAgent):
+    """`IntersimpleFlatAgent` with rewards."""
+    pass
+
+env = IntersimpleRewardRandom(
+    reward=functools.partial(
+        speed_reward,
+        collision_penalty=0
+    )
+)
+
+# %%
+model = PPO(
+    "MlpPolicy", env,
+    verbose=1,
+    batch_size=2048,
+)
+model.learn(total_timesteps=2e5)
+model.save(model_name)
+
+print('Done training.')
+
+del model # remove to demonstrate saving and loading
+
+# %%
+model = PPO.load(model_name)
+
+obs = env.reset()
+while True:
+    action, _states = model.predict(obs)
+    obs, rewards, done, info = env.step(action)
+    env.render(mode='post')
+    if done:
+        break
+
+env.close(filestr='render/'+model_name)
diff --git a/scratch/etienne/intersimple/ppo_tspeed.py b/scratch/etienne/intersimple/ppo_tspeed.py
new file mode 100644
index 0000000..2d8fc04
--- /dev/null
+++ b/scratch/etienne/intersimple/ppo_tspeed.py
@@ -0,0 +1,39 @@
+# %%
+from stable_baselines3 import PPO
+from stable_baselines3.common.env_util import make_vec_env
+from intersim.envs.intersimple import IntersimpleTargetSpeedAgent
+
+model_name = "ppo_tspeed"
+
+env = IntersimpleTargetSpeedAgent(
+    agent=51,
+    target_speed=10,
+    speed_penalty_weight=0.001,
+    collision_penalty=1000
+)
+
+# %%
+model = PPO(
+    "MlpPolicy", env,
+    learning_rate=3e-6,
+    verbose=1,
+)
+model.learn(total_timesteps=2e5)
+model.save(model_name)
+
+print('Done training.')
+
+del model # remove to demonstrate saving and loading
+
+# %%
+model = PPO.load(model_name)
+
+obs = env.reset()
+while True:
+    action, _states = model.predict(obs)
+    obs, rewards, done, info = env.step(action)
+    env.render(mode='post')
+    if done:
+        break
+
+env.close(filestr='render/'+model_name)
diff --git a/scratch/etienne/intersimple/ppo_tspeed_random.py b/scratch/etienne/intersimple/ppo_tspeed_random.py
new file mode 100644
index 0000000..46c9843
--- /dev/null
+++ b/scratch/etienne/intersimple/ppo_tspeed_random.py
@@ -0,0 +1,31 @@
+# %%
+from stable_baselines3 import PPO
+from stable_baselines3.common.env_util import make_vec_env
+from intersim.envs.intersimple import IntersimpleTargetSpeedRandom
+
+model_name = "ppo_tspeed_random"
+
+# %%
+env = IntersimpleTargetSpeedRandom(target_speed=10)
+
+# %%
+model = PPO("MlpPolicy", env, verbose=1)
+model.learn(total_timesteps=250000)
+model.save(model_name)
+
+print('Done training.')
+
+del model # remove to demonstrate saving and loading
+
+# %%
+model = PPO.load(model_name)
+
+obs = env.reset()
+while True:
+    action, _states = model.predict(obs)
+    obs, rewards, done, info = env.step(action)
+    env.render(mode='post')
+    if done:
+        break
+
+env.close()