diff --git a/scripts/experiments.jl b/scripts/experiments.jl
index 1f95550..36b682c 100644
--- a/scripts/experiments.jl
+++ b/scripts/experiments.jl
@@ -85,3 +85,9 @@ rmse_plots_modelscompare(rmse_pos_list,filename = "media/rmse_pos_upper.svg");
 
 coll_mat_list = [coll_mat_idm,coll_mat_cidm,coll_mat_lmidm,coll_mat_pf];
 coll_barchart(coll_mat_list,filename = "media/coll_barchart_upper.svg");
+
+#********************Train upper test lower******************
+# We need to show a variability in the generated scenarios
+# So we need to combine the particle sets of different vehicles together
+# And then for the same set of vehicles in the lower merge i.e. test domain
+# We show significantly different driving behavior by sampling from the particle set
diff --git a/scripts/helpers.jl b/scripts/helpers.jl
index 5cb5507..327b88e 100644
--- a/scripts/helpers.jl
+++ b/scripts/helpers.jl
@@ -348,3 +348,38 @@ function rmse_plots_modelscompare(rmse_mat_list;filename="media/test_rmse.pdf")
         print("function rmse_plots_modelscompare says: saved $(filename)\n")
         return nothing
 end
+
+"""
+function train_one_test_another(;train_filename="media/lower_3.jld",test_filename="media/upper_2.jld",video_filename="media/train_low_test_up.mp4")
+- Take final particle (i.e. mean of particles) obtained for one vehicle in train scenario
+- Assign cidm model using that particle to all vehicles in test scenario
+- Run a simulation, make a video and return collision assessment
+
+# Example 
+```julia
+# Run this from scripts folder
+train_one_test_another(train_filename="media/lower_3.jld",
+test_filename="media/upper_4.jld",video_filename="media/train_test_3_4.mp4")
+```
+"""
+function train_one_test_another(;train_filename="media/lower_3.jld",
+        test_filename="media/upper_2.jld",video_filename="media/train_low_test_up.mp4")
+        # p_dict is a Dict(veh_id=>final_mean_particle)
+        p_dict,train_id_list = JLD.load(train_filename,"p","veh_id_list")
+        particle = p_dict[train_id_list[1]] # pick the first veh in train list wlog
+
+        f = FilteringEnvironment() # Will need to have lower as mergeenv when testing on lower
+        test_id_list,test_ts,test_te = JLD.load(test_filename,"veh_id_list","ts","te")
+        models = Dict{Int64,DriverModel}()
+        for id in test_id_list
+                models[id] = cidm_from_particle(f,particle)
+        end
+        nticks = test_te-test_ts+1
+        scene_real = deepcopy(f.traj[test_ts])
+        if !isempty(test_id_list) keep_vehicle_subset!(scene_real,test_id_list) end
+        scene_list = simulate(scene_real,f.roadway,models,nticks,f.timestep)
+
+        c_array = test_collision(scene_list,test_id_list)
+        scenelist2video(f,scene_list,filename=video_filename)
+        return c_array
+end
diff --git a/src/AutomotiveInteraction.jl b/src/AutomotiveInteraction.jl
index 24f70fd..7f6ce63 100644
--- a/src/AutomotiveInteraction.jl
+++ b/src/AutomotiveInteraction.jl
@@ -77,6 +77,7 @@ export
 include("Driving/overlays.jl")
 
 export
+    cidm_from_particle,
     hallucinate_a_step,
     weight_and_resample,
     multistep_update,
diff --git a/src/Data_Processing/roadway_building.jl b/src/Data_Processing/roadway_building.jl
index 800d3aa..68e4659 100644
--- a/src/Data_Processing/roadway_building.jl
+++ b/src/Data_Processing/roadway_building.jl
@@ -199,7 +199,7 @@ end
 """
     function make_roadway_ngsim()
 
-- Read in the ngsim 101 roadway from the provided roadway file `../dataset/ngsim_101.txt`
+- Read in the ngsim 101 roadway from the provided roadway file `/dataset/ngsim_101.txt`
 
 # Examples
 ```julia
@@ -207,7 +207,7 @@ roadway_ngsim = make_roadway_ngsim()
 ```
 """
 function make_roadway_ngsim()
-    roadway_ngsim = open(io->read(io, MIME"text/plain"(), Roadway),joinpath(@__DIR__,"dataset/ngsim_101.txt"), "r")
+    roadway_ngsim = open(io->read(io, Roadway),joinpath(@__DIR__,"dataset/ngsim_101.txt"), "r")
     return roadway_ngsim
 end
 
diff --git a/src/Driving/visualization.jl b/src/Driving/visualization.jl
index 9ef6ba4..a6e54bc 100644
--- a/src/Driving/visualization.jl
+++ b/src/Driving/visualization.jl
@@ -39,25 +39,27 @@ end
 
 # Examples
 ```julia
-# See run_vehicles function in driving_simulation.jl
+scenelist2video(f,scenelist,filename="media/test_scenelist2video.mp4")
 ```
 """
-function scenelist2video(scene_list;id_list=[],roadway,filename)
+function scenelist2video(f::FilteringEnvironment,scene_list;filename)
     frames = Frames(MIME("image/png"),fps = 10)
-    mr = MergingRoadway(roadway) # Wrapper for specialized render for merging lanes
+    mr = MergingRoadway(f.roadway) # Wrapper for specialized render for merging lanes
     mp = VecE2(1064.5227, 959.1559)
 
     # Loop over list of scenes and convert to video
     for i in 1:length(scene_list)
-        if !isempty(id_list) keep_vehicle_subset!(scene_list[i],id_list) end
-        scene_visual = render([mr,scene_list[i],
-                        IDOverlay(scene=scene_list[i]),
-                        TextOverlay(text=["frame=$(i)"],font_size=12)],
-                        camera=StaticCamera(position=mp,zoom=5.)
-        )
+        temp_scene = deepcopy(scene_list[i])
+        renderables = [
+            mr,
+            (FancyCar(car=temp_scene[j]) for j in 1:length(temp_scene))...,
+            IDOverlay(scene=temp_scene),
+            TextOverlay(text=["frame=$(i)"],font_size=12)
+        ]
+        scene_visual = render(renderables,camera=StaticCamera(position=mp,zoom=5.))
         push!(frames,scene_visual)
     end
-    print("Making video filename: $(filename)\n")
+    print("scenelist2video says: Making video filename: $(filename)\n")
     write(filename,frames)
     return nothing
 end