diff --git a/.github/workflows/create-stale-docs-issues.yml b/.github/workflows/create-stale-docs-issues.yml
index ff284c84..7dfdeaa5 100644
--- a/.github/workflows/create-stale-docs-issues.yml
+++ b/.github/workflows/create-stale-docs-issues.yml
@@ -47,9 +47,16 @@ jobs:
           path: logs
 
       - name: Create or Update Issues (One Per File)
+        env:
+          GH_TOKEN: ${{ github.token }}
+          RESULTS_FILE: ${{ inputs.results-file }}
+          THRESHOLD_DAYS: ${{ inputs.threshold-days }}
+          GITHUB_REPOSITORY: ${{ github.repository }}
+          GITHUB_SERVER_URL: ${{ github.server_url }}
+          GITHUB_RUN_ID: ${{ github.run_id }}
         run: |
           # Extract stale files from JSON
-          $results = Get-Content '${{ inputs.results-file }}' | ConvertFrom-Json
+          $results = Get-Content $env:RESULTS_FILE | ConvertFrom-Json
           $staleFiles = $results | Where-Object { $_.IsStale -eq $true }
 
           if (-not $staleFiles) {
@@ -73,9 +80,9 @@ jobs:
 
             # Check for existing open issue for this specific file using search
             # Search by automation marker in issue body
-            $searchQuery = "repo:${{ github.repository }} is:issue is:open in:body `"automation:stale-docs:$filePath`""
+            $searchQuery = "repo:$env:GITHUB_REPOSITORY is:issue is:open in:body `"automation:stale-docs:$filePath`""
             $existingIssueJson = gh issue list `
-              --repo "${{ github.repository }}" `
+              --repo $env:GITHUB_REPOSITORY `
               --search "$searchQuery" `
               --limit 1 `
               --json number `
@@ -89,10 +96,10 @@ jobs:
 
           **File:** ``$filePath``
           **Current ms.date:** ``$msDate``
-          **Age:** $ageDays days (threshold: ${{ inputs.threshold-days }} days)
+          **Age:** $ageDays days (threshold: $env:THRESHOLD_DAYS days)
 
           ---
-          **Workflow Run:** ${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}
+          **Workflow Run:** $env:GITHUB_SERVER_URL/$env:GITHUB_REPOSITORY/actions/runs/$env:GITHUB_RUN_ID
           **Detection Date:** $(Get-Date -Format 'yyyy-MM-dd' -AsUTC)
 
           ### Action Required
@@ -107,17 +114,17 @@ jobs:
             if ($existingIssue) {
               Write-Host "Updating existing issue #$existingIssue for $filePath"
               gh issue edit $existingIssue `
-                --repo "${{ github.repository }}" `
+                --repo $env:GITHUB_REPOSITORY `
                 --body $issueBody
 
               $updateDate = Get-Date -Format 'yyyy-MM-dd' -AsUTC
               gh issue comment $existingIssue `
-                --repo "${{ github.repository }}" `
+                --repo $env:GITHUB_REPOSITORY `
                 --body "🔄 **Weekly validation update:** Still stale ($ageDays days) as of $updateDate"
             } else {
               Write-Host "Creating new issue for $filePath"
               gh issue create `
-                --repo "${{ github.repository }}" `
+                --repo $env:GITHUB_REPOSITORY `
                 --title $issueTitle `
                 --body $issueBody `
                 --label "documentation,stale-docs,automated,needs-triage"
@@ -125,5 +132,3 @@ jobs:
           }
 
           Write-Host "Issue creation/update complete"
-        env:
-          GH_TOKEN: ${{ github.token }}
diff --git a/.github/workflows/msdate-freshness-check.yml b/.github/workflows/msdate-freshness-check.yml
index d25519ac..93548aed 100644
--- a/.github/workflows/msdate-freshness-check.yml
+++ b/.github/workflows/msdate-freshness-check.yml
@@ -13,6 +13,11 @@ on:
         required: false
         type: boolean
         default: false
+      soft-fail:
+        description: 'Prevent PR failures when ms.date issues are detected'
+        required: false
+        type: boolean
+        default: false
 
 permissions:
   contents: read
@@ -43,14 +48,18 @@ jobs:
           Install-Module -Name PowerShell-Yaml -Force -Scope CurrentUser
 
       - name: Run ms.date Freshness Check
+        env:
+          THRESHOLD_DAYS: ${{ inputs.staleness-threshold-days }}
+          CHANGED_FILES_ONLY: ${{ inputs.changed-files-only }}
         run: |
-          $args = @{
-            ThresholdDays = ${{ inputs.staleness-threshold-days }}
+          $params = @{
+            ThresholdDays = [int]$env:THRESHOLD_DAYS
           }
-          if ('${{ inputs.changed-files-only }}' -eq 'true') {
-            $args['ChangedFilesOnly'] = $true
+          if ($env:CHANGED_FILES_ONLY -eq 'true') {
+            $params['ChangedFilesOnly'] = $true
           }
-          & shared/ci/linting/Invoke-MsDateFreshnessCheck.ps1 @args
+          & shared/ci/linting/Invoke-MsDateFreshnessCheck.ps1 @params
+        continue-on-error: ${{ inputs.soft-fail }}
 
       - name: Upload freshness check results
         if: always()
diff --git a/.github/workflows/pr-validation.yml b/.github/workflows/pr-validation.yml
index 4eb54a61..af0f8014 100644
--- a/.github/workflows/pr-validation.yml
+++ b/.github/workflows/pr-validation.yml
@@ -50,6 +50,7 @@ jobs:
     with:
       staleness-threshold-days: 90
       changed-files-only: true
+      soft-fail: false
     permissions:
       contents: read
 
diff --git a/.github/workflows/weekly-validation.yml b/.github/workflows/weekly-validation.yml
index ca0c35fc..95d18f99 100644
--- a/.github/workflows/weekly-validation.yml
+++ b/.github/workflows/weekly-validation.yml
@@ -26,6 +26,7 @@ jobs:
     with:
       staleness-threshold-days: 90
       changed-files-only: false  # Check all files
+      soft-fail: false
     permissions:
       contents: read
 
diff --git a/shared/ci/linting/Invoke-MsDateFreshnessCheck.ps1 b/shared/ci/linting/Invoke-MsDateFreshnessCheck.ps1
index c8d536fd..f83559ca 100644
--- a/shared/ci/linting/Invoke-MsDateFreshnessCheck.ps1
+++ b/shared/ci/linting/Invoke-MsDateFreshnessCheck.ps1
@@ -201,6 +201,7 @@ function New-MsDateReport {
 | File | ms.date | Age (days) |
 |------|---------|------------|
 "@
+        $markdown += "`n"
 
         $sortedStaleFiles = $staleFiles | Sort-Object -Property AgeDays -Descending
 
diff --git a/shared/ci/tests/Fixtures/Frontmatter/empty-description.md b/shared/ci/tests/Fixtures/Frontmatter/empty-description.md
index 6cf6f00b..877887cc 100644
--- a/shared/ci/tests/Fixtures/Frontmatter/empty-description.md
+++ b/shared/ci/tests/Fixtures/Frontmatter/empty-description.md
@@ -1,7 +1,7 @@
 ---
 title: Empty Description Test
 description: ""
-ms.date: 2026-03-16
+ms.date: 2026-03-20
 ---
 
 # Empty Description
diff --git a/shared/ci/tests/Fixtures/Frontmatter/footer-with-formatting.md b/shared/ci/tests/Fixtures/Frontmatter/footer-with-formatting.md
index bce51a42..eac38d07 100644
--- a/shared/ci/tests/Fixtures/Frontmatter/footer-with-formatting.md
+++ b/shared/ci/tests/Fixtures/Frontmatter/footer-with-formatting.md
@@ -2,7 +2,7 @@
 title: Formatted Footer Test
 description: A document with bold and italic formatting applied to the footer
 author: test-author
-ms.date: 2026-03-16
+ms.date: 2026-03-20
 ---
 
 Content with a formatted footer that should still match after normalization.
diff --git a/shared/ci/tests/Fixtures/Frontmatter/footer-with-html-comment.md b/shared/ci/tests/Fixtures/Frontmatter/footer-with-html-comment.md
index ddf7ce53..8fdbad1b 100644
--- a/shared/ci/tests/Fixtures/Frontmatter/footer-with-html-comment.md
+++ b/shared/ci/tests/Fixtures/Frontmatter/footer-with-html-comment.md
@@ -2,7 +2,7 @@
 title: HTML Comment Footer Test
 description: A document with HTML comment wrapping around the footer
 author: test-author
-ms.date: 2026-03-16
+ms.date: 2026-03-20
 ---
 
 Content with HTML comments interspersed near the footer.
diff --git a/shared/ci/tests/Fixtures/Frontmatter/valid-docs-with-footer.md b/shared/ci/tests/Fixtures/Frontmatter/valid-docs-with-footer.md
index d705d5e1..160ae2ad 100644
--- a/shared/ci/tests/Fixtures/Frontmatter/valid-docs-with-footer.md
+++ b/shared/ci/tests/Fixtures/Frontmatter/valid-docs-with-footer.md
@@ -2,7 +2,7 @@
 title: Azure ML Validation Job Debugging
 description: Troubleshooting guide for Azure Machine Learning validation job failures
 author: Robotics-AI Team
-ms.date: 2026-03-16
+ms.date: 2026-03-20
 ms.topic: troubleshooting
 ---
 
diff --git a/shared/ci/tests/Fixtures/Frontmatter/valid-docs.md b/shared/ci/tests/Fixtures/Frontmatter/valid-docs.md
index ea65c6b1..c96996da 100644
--- a/shared/ci/tests/Fixtures/Frontmatter/valid-docs.md
+++ b/shared/ci/tests/Fixtures/Frontmatter/valid-docs.md
@@ -2,7 +2,7 @@
 title: Azure ML Validation Job Debugging
 description: Troubleshooting guide for Azure Machine Learning validation job failures
 author: Robotics-AI Team
-ms.date: 2026-03-16
+ms.date: 2026-03-20
 ms.topic: troubleshooting
 ---
 
diff --git a/shared/ci/tests/Fixtures/Frontmatter/valid-root-community-with-footer.md b/shared/ci/tests/Fixtures/Frontmatter/valid-root-community-with-footer.md
index 5ece808c..9f0cf654 100644
--- a/shared/ci/tests/Fixtures/Frontmatter/valid-root-community-with-footer.md
+++ b/shared/ci/tests/Fixtures/Frontmatter/valid-root-community-with-footer.md
@@ -2,7 +2,7 @@
 title: Contributing Guide
 description: Guidelines for contributing to the Physical AI Toolchain
 author: Robotics-AI Team
-ms.date: 2026-03-16
+ms.date: 2026-03-20
 ---
 
 Thank you for your interest in contributing to this project.
diff --git a/shared/ci/tests/Fixtures/Frontmatter/valid-root-community.md b/shared/ci/tests/Fixtures/Frontmatter/valid-root-community.md
index bbc96eeb..6f627516 100644
--- a/shared/ci/tests/Fixtures/Frontmatter/valid-root-community.md
+++ b/shared/ci/tests/Fixtures/Frontmatter/valid-root-community.md
@@ -2,7 +2,7 @@
 title: Contributing Guide
 description: Guidelines for contributing to the Physical AI Toolchain
 author: Robotics-AI Team
-ms.date: 2026-03-16
+ms.date: 2026-03-20
 ---
 
 Thank you for your interest in contributing to this project.
diff --git a/shared/ci/tests/Fixtures/Frontmatter/warning-author-empty.md b/shared/ci/tests/Fixtures/Frontmatter/warning-author-empty.md
index e7f3df07..e9dbc988 100644
--- a/shared/ci/tests/Fixtures/Frontmatter/warning-author-empty.md
+++ b/shared/ci/tests/Fixtures/Frontmatter/warning-author-empty.md
@@ -2,7 +2,7 @@
 title: Warning Test Fixture
 description: File with empty author field to trigger a validation warning
 author: ""
-ms.date: 2026-03-16
+ms.date: 2026-03-20
 ms.topic: conceptual
 ---
 
diff --git a/workflows/README.md b/workflows/README.md
index b4025898..02acb711 100644
--- a/workflows/README.md
+++ b/workflows/README.md
@@ -2,7 +2,7 @@
 title: Workflows
 description: AzureML and OSMO workflow templates for robotics training and validation jobs
 author: Edge AI Team
-ms.date: 2026-03-16
+ms.date: 2026-03-20
 ms.topic: reference
 ---
 
@@ -43,32 +43,32 @@ workflows/
 
 ```bash
 # Training job
-./scripts/submit-azureml-training.sh --task Isaac-Velocity-Rough-Anymal-C-v0
+training/rl/scripts/submit-azureml-training.sh --task Isaac-Velocity-Rough-Anymal-C-v0
 
 # LeRobot behavioral cloning (AzureML)
-./scripts/submit-azureml-lerobot-training.sh -d lerobot/aloha_sim_insertion_human
+training/il/scripts/submit-azureml-lerobot-training.sh -d lerobot/aloha_sim_insertion_human
 
 # Validation job (model name derived from task by default)
-./scripts/submit-azureml-validation.sh --task Isaac-Velocity-Rough-Anymal-C-v0
+evaluation/sil/scripts/submit-azureml-validation.sh --task Isaac-Velocity-Rough-Anymal-C-v0
 ```
 
 ### OSMO Workflows
 
 ```bash
 # Base64 payload (< 1MB training code)
-./scripts/submit-osmo-training.sh --task Isaac-Velocity-Rough-Anymal-C-v0
+training/rl/scripts/submit-osmo-training.sh --task Isaac-Velocity-Rough-Anymal-C-v0
 
 # Dataset folder upload (unlimited size, versioned)
-./scripts/submit-osmo-dataset-training.sh --task Isaac-Velocity-Rough-Anymal-C-v0
+training/il/scripts/submit-osmo-dataset-training.sh --task Isaac-Velocity-Rough-Anymal-C-v0
 
 # LeRobot behavioral cloning (HuggingFace datasets)
-./scripts/submit-osmo-lerobot-training.sh -d lerobot/aloha_sim_insertion_human
+training/il/scripts/submit-osmo-lerobot-training.sh -d lerobot/aloha_sim_insertion_human
 
 # LeRobot inference/evaluation
-./scripts/submit-osmo-lerobot-inference.sh --policy-repo-id user/trained-policy
+evaluation/sil/scripts/submit-osmo-lerobot-eval.sh --policy-repo-id user/trained-policy
 
 # End-to-end pipeline: train → evaluate → register
-./scripts/run-lerobot-pipeline.sh \
+training/pipelines/run-lerobot-pipeline.sh \
   -d lerobot/aloha_sim_insertion_human \
   --policy-repo-id user/my-policy \
   -r my-model
@@ -89,10 +89,10 @@ The `train-dataset.yaml` template uploads `training/rl/` as a versioned OSMO dat
 
 ```bash
 # Default configuration
-./scripts/submit-osmo-dataset-training.sh --task Isaac-Velocity-Rough-Anymal-C-v0
+training/il/scripts/submit-osmo-dataset-training.sh --task Isaac-Velocity-Rough-Anymal-C-v0
 
 # Custom dataset configuration
-./scripts/submit-osmo-dataset-training.sh \
+training/il/scripts/submit-osmo-dataset-training.sh \
   --dataset-bucket custom-bucket \
   --dataset-name my-training-v1 \
   --task Isaac-Velocity-Rough-Anymal-C-v0
@@ -135,11 +135,11 @@ The `lerobot-train.yaml` workflow trains behavioral cloning policies using the L
 
 ```bash
 # ACT training with WANDB
-./scripts/submit-osmo-lerobot-training.sh \
+training/il/scripts/submit-osmo-lerobot-training.sh \
   -d lerobot/aloha_sim_insertion_human
 
 # Diffusion policy with MLflow and model registration
-./scripts/submit-osmo-lerobot-training.sh \
+training/il/scripts/submit-osmo-lerobot-training.sh \
   -d user/custom-dataset \
   -p diffusion \
   --mlflow-enable \
@@ -172,11 +172,11 @@ The `lerobot-infer.yaml` workflow evaluates trained LeRobot policies from Huggin
 
 ```bash
 # Evaluate trained policy
-./scripts/submit-osmo-lerobot-inference.sh \
+evaluation/sil/scripts/submit-osmo-lerobot-eval.sh \
   --policy-repo-id user/trained-act-policy
 
 # Evaluate with model registration
-./scripts/submit-osmo-lerobot-inference.sh \
+evaluation/sil/scripts/submit-osmo-lerobot-eval.sh \
   --policy-repo-id user/trained-act-policy \
   -r my-evaluated-model \
   --eval-episodes 50
@@ -208,7 +208,7 @@ The workflow accepts checkpoints from multiple sources:
 ### Basic Usage
 
 ```bash
-./scripts/submit-osmo-inference.sh \
+evaluation/sil/scripts/submit-osmo-eval.sh \
     --checkpoint-uri "runs:/abc123/checkpoints/final/model_999.pt" \
     --task Isaac-Ant-v0
 ```
@@ -228,7 +228,7 @@ The workflow accepts checkpoints from multiple sources:
 
 ```bash
 # ONNX-only inference with custom parameters
-./scripts/submit-osmo-inference.sh \
+evaluation/sil/scripts/submit-osmo-eval.sh \
     --checkpoint-uri "models:/my-model/1" \
     --task Isaac-Velocity-Rough-Anymal-C-v0 \
     --format onnx \
@@ -237,13 +237,13 @@ The workflow accepts checkpoints from multiple sources:
     --video-length 300
 
 # TorchScript-only inference
-./scripts/submit-osmo-inference.sh \
+evaluation/sil/scripts/submit-osmo-eval.sh \
     --checkpoint-uri "runs:/abc123/checkpoints/final/model_99.pt" \
     --task Isaac-Ant-v0 \
     --format jit
 
 # With explicit Azure context
-./scripts/submit-osmo-inference.sh \
+evaluation/sil/scripts/submit-osmo-eval.sh \
     --checkpoint-uri "runs:/abc123/checkpoints/model_999.pt" \
     --task Isaac-Ant-v0 \
     --azure-subscription-id "00000000-0000-0000-0000-000000000000" \
diff --git a/workflows/azureml/README.md b/workflows/azureml/README.md
index b70dc67f..6bf97531 100644
--- a/workflows/azureml/README.md
+++ b/workflows/azureml/README.md
@@ -2,7 +2,7 @@
 title: AzureML Workflows
 description: Azure Machine Learning job templates for robotics training and validation
 author: Edge AI Team
-ms.date: 2025-12-04
+ms.date: 2026-03-20
 ms.topic: reference
 ---
 
@@ -10,11 +10,11 @@ Azure Machine Learning job templates for Isaac Lab training and validation workl
 
 ## 📜 Available Templates
 
-| Template                                 | Purpose                               | Submission Script                            |
-|------------------------------------------|---------------------------------------|----------------------------------------------|
-| [train.yaml](train.yaml)                 | Training jobs with checkpoint support | `scripts/submit-azureml-training.sh`         |
-| [validate.yaml](validate.yaml)           | Policy validation and inference       | `scripts/submit-azureml-validation.sh`       |
-| [lerobot-train.yaml](lerobot-train.yaml) | LeRobot behavioral cloning training   | `scripts/submit-azureml-lerobot-training.sh` |
+| Template                                                                        | Purpose                               | Submission Script                                        |
+|---------------------------------------------------------------------------------|---------------------------------------|----------------------------------------------------------|
+| [train.yaml](../../training/rl/workflows/azureml/train.yaml)                    | Training jobs with checkpoint support | `training/rl/scripts/submit-azureml-training.sh`         |
+| [validate.yaml](../../evaluation/sil/workflows/azureml/validate.yaml)           | Policy validation and inference       | `evaluation/sil/scripts/submit-azureml-validation.sh`    |
+| [lerobot-train.yaml](../../training/il/workflows/azureml/lerobot-train.yaml)    | LeRobot behavioral cloning training   | `training/il/scripts/submit-azureml-lerobot-training.sh` |
 
 ## 🏋️ Training Job (`train.yaml`)
 
@@ -35,10 +35,10 @@ Submits Isaac Lab reinforcement learning training to AKS GPU nodes via Azure ML.
 
 ```bash
 # Default configuration from Terraform outputs
-./scripts/submit-azureml-training.sh
+training/rl/scripts/submit-azureml-training.sh
 
 # Override specific parameters
-./scripts/submit-azureml-training.sh \
+training/rl/scripts/submit-azureml-training.sh \
   --resource-group rg-custom \
   --workspace-name mlw-custom
 ```
@@ -60,10 +60,10 @@ Runs trained policy validation and generates inference metrics.
 
 ```bash
 # Default configuration
-./scripts/submit-azureml-validation.sh
+evaluation/sil/scripts/submit-azureml-validation.sh
 
 # With custom checkpoint
-./scripts/submit-azureml-validation.sh \
+evaluation/sil/scripts/submit-azureml-validation.sh \
   --checkpoint-path "azureml://datastores/checkpoints/paths/model.pt"
 ```
 
@@ -103,11 +103,11 @@ Submits LeRobot behavioral cloning training (ACT/Diffusion policies) to Azure ML
 
 ```bash
 # ACT policy training
-./scripts/submit-azureml-lerobot-training.sh \
+training/il/scripts/submit-azureml-lerobot-training.sh \
   -d lerobot/aloha_sim_insertion_human
 
 # Diffusion policy with model registration
-./scripts/submit-azureml-lerobot-training.sh \
+training/il/scripts/submit-azureml-lerobot-training.sh \
   -d user/custom-dataset \
   -p diffusion \
   -r my-diffusion-model \
diff --git a/workflows/osmo/README.md b/workflows/osmo/README.md
index 626664bf..e016dab5 100644
--- a/workflows/osmo/README.md
+++ b/workflows/osmo/README.md
@@ -2,7 +2,7 @@
 title: OSMO Workflows
 description: NVIDIA OSMO workflow templates for distributed robotics training
 author: Edge AI Team
-ms.date: 2026-03-16
+ms.date: 2026-03-20
 ms.topic: reference
 ---
 
@@ -55,10 +55,10 @@ Parameters are passed as key=value pairs through the submission script:
 
 ```bash
 # Default configuration from Terraform outputs
-./scripts/submit-osmo-training.sh
+training/rl/scripts/submit-osmo-training.sh
 
 # Override parameters
-./scripts/submit-osmo-training.sh \
+training/rl/scripts/submit-osmo-training.sh \
   --azure-subscription-id "your-subscription-id" \
   --azure-resource-group "rg-custom"
 ```
@@ -86,10 +86,10 @@ Submits Isaac Lab training using OSMO dataset folder injection instead of base64
 
 ```bash
 # Default configuration
-./scripts/submit-osmo-dataset-training.sh
+training/il/scripts/submit-osmo-dataset-training.sh
 
 # Custom dataset bucket
-./scripts/submit-osmo-dataset-training.sh \
+training/il/scripts/submit-osmo-dataset-training.sh \
   --dataset-bucket custom-bucket \
   --dataset-name my-training-code
 ```
@@ -124,18 +124,18 @@ Submits LeRobot behavioral cloning training for ACT and Diffusion policy archite
 
 ```bash
 # ACT training with WANDB logging
-./scripts/submit-osmo-lerobot-training.sh \
+training/il/scripts/submit-osmo-lerobot-training.sh \
   -d lerobot/aloha_sim_insertion_human
 
 # Diffusion policy with MLflow logging
-./scripts/submit-osmo-lerobot-training.sh \
+training/il/scripts/submit-osmo-lerobot-training.sh \
   -d user/custom-dataset \
   -p diffusion \
   --mlflow-enable \
   -r my-diffusion-model
 
 # Fine-tune from existing policy
-./scripts/submit-osmo-lerobot-training.sh \
+training/il/scripts/submit-osmo-lerobot-training.sh \
   -d user/dataset \
   --policy-repo-id user/pretrained-act \
   --training-steps 50000
@@ -176,7 +176,7 @@ Trains LeRobot policies using OSMO dataset mounts instead of HuggingFace Hub dow
 
 ```bash
 # Train with local dataset uploaded via OSMO
-./scripts/submit-osmo-lerobot-training.sh \
+training/il/scripts/submit-osmo-lerobot-training.sh \
   -w workflows/osmo/lerobot-train-dataset.yaml \
   -d user/fallback-dataset \
   --dataset-bucket my-bucket \
@@ -209,16 +209,16 @@ Evaluates trained LeRobot policies from HuggingFace Hub repositories. Downloads
 
 ```bash
 # Evaluate a trained policy
-./scripts/submit-osmo-lerobot-inference.sh \
+evaluation/sil/scripts/submit-osmo-lerobot-eval.sh \
   --policy-repo-id user/trained-act-policy
 
 # Evaluate with Azure ML model registration
-./scripts/submit-osmo-lerobot-inference.sh \
+evaluation/sil/scripts/submit-osmo-lerobot-eval.sh \
   --policy-repo-id user/trained-act-policy \
   -r my-evaluated-model
 
 # Diffusion policy with more episodes
-./scripts/submit-osmo-lerobot-inference.sh \
+evaluation/sil/scripts/submit-osmo-lerobot-eval.sh \
   --policy-repo-id user/diffusion-policy \
   -p diffusion \
   --eval-episodes 50