diff --git a/config/experiments/ver_instance_imagenav.yaml b/config/experiments/ver_instance_imagenav.yaml
index f6148bc..686f623 100644
--- a/config/experiments/ver_instance_imagenav.yaml
+++ b/config/experiments/ver_instance_imagenav.yaml
@@ -42,7 +42,7 @@ habitat_baselines:
   rl:
 
     policy:
-      name: "PointNavResnetCLIPPolicy"
+      name: "GOATPolicy"
 
     ppo:
       # ppo params
diff --git a/config/experiments/ver_language_nav.yaml b/config/experiments/ver_language_nav.yaml
index 0e77cfc..ebfc1fa 100644
--- a/config/experiments/ver_language_nav.yaml
+++ b/config/experiments/ver_language_nav.yaml
@@ -42,7 +42,7 @@ habitat_baselines:
   rl:
 
     policy:
-      name: "PointNavResnetCLIPPolicy"
+      name: "GOATPolicy"
 
     ppo:
       # ppo params
diff --git a/config/experiments/ver_objectnav.yaml b/config/experiments/ver_objectnav.yaml
index d629277..ac3c122 100644
--- a/config/experiments/ver_objectnav.yaml
+++ b/config/experiments/ver_objectnav.yaml
@@ -42,7 +42,7 @@ habitat_baselines:
   rl:
 
     policy:
-      name: "PointNavResnetCLIPPolicy"
+      name: "GOATPolicy"
 
     ppo:
       # ppo params
diff --git a/goat_bench/models/high_level_policy.py b/goat_bench/models/high_level_policy.py
index 0cd3421..3bc1805 100644
--- a/goat_bench/models/high_level_policy.py
+++ b/goat_bench/models/high_level_policy.py
@@ -104,7 +104,7 @@ def __init__(
         print("Start initialization of GOAT high level policy.......")
 
         ovon_policy_cls = baseline_registry.get_policy(
-            "PointNavResnetCLIPPolicy"
+            "GOATPolicy"
         )
         print(observation_space)
         print(dir(observation_space))
@@ -144,7 +144,7 @@ def __init__(
             }
         )
         language_policy_cls = baseline_registry.get_policy(
-            "PointNavResnetCLIPPolicy"
+            "GOATPolicy"
         )
         print("Pol ", language_policy_cls)
         self.language_policy = language_policy_cls.from_config(
@@ -171,7 +171,7 @@ def __init__(
             }
         )
         image_policy_cls = baseline_registry.get_policy(
-            "PointNavResnetCLIPPolicy"
+            "GOATPolicy"
         )
         self.image_policy = image_policy_cls.from_config(
             config,
diff --git a/scripts/eval/1-goat-skill-chaining.sh b/scripts/eval/1-goat-skill-chaining.sh
index 9e1b936..a98c28a 100644
--- a/scripts/eval/1-goat-skill-chaining.sh
+++ b/scripts/eval/1-goat-skill-chaining.sh
@@ -2,12 +2,12 @@
 #SBATCH --job-name=goat
 #SBATCH --output=slurm_logs/eval/goat-%j.out
 #SBATCH --error=slurm_logs/eval/goat-%j.err
-#SBATCH --gpus 1
+#SBATCH --gpus a40:1
 #SBATCH --nodes 1
 #SBATCH --cpus-per-task 6
 #SBATCH --ntasks-per-node 1
-#SBATCH --constraint="a40"
-#SBATCH --partition=short
+#SBATCH --partition=cvmlp-lab
+#SBATCH --qos=short
 #SBATCH --exclude=xaea-12
 #SBATCH --signal=USR1@100
 
@@ -23,7 +23,7 @@ eval_ckpt_path_dir="data/new_checkpoints/goat_bench/ver/skill_chain/"
 tensorboard_dir="tb/goat_bench/ver/skill_chain/val_seen/"
 split="val_seen"
 
-srun python -um goat.run \
+srun python -um goat_bench.run \
   --run-type eval \
   --exp-config config/experiments/ver_goat_skill_chain.yaml \
   habitat_baselines.num_environments=1 \
diff --git a/scripts/eval/1-instance-imagenav-eval.sh b/scripts/eval/1-instance-imagenav-eval.sh
index 968a49f..ba0a158 100644
--- a/scripts/eval/1-instance-imagenav-eval.sh
+++ b/scripts/eval/1-instance-imagenav-eval.sh
@@ -2,12 +2,12 @@
 #SBATCH --job-name=goat
 #SBATCH --output=slurm_logs/eval/goat-%j.out
 #SBATCH --error=slurm_logs/eval/goat-%j.err
-#SBATCH --gpus 1
+#SBATCH --gpus a40:1
 #SBATCH --nodes 1
 #SBATCH --cpus-per-task 6
 #SBATCH --ntasks-per-node 1
-#SBATCH --constraint="a40|rtx_6000|2080_ti"
-#SBATCH --partition=short
+#SBATCH --partition=cvmlp-lab
+#SBATCH --qos=short
 #SBATCH --exclude=xaea-12
 #SBATCH --signal=USR1@100
 
@@ -32,11 +32,11 @@ DATA_PATH="data/datasets/iin/hm3d/v2/"
 echo "Evaluating ckpt: ${eval_ckpt_path_dir}"
 echo "Data path: ${DATA_PATH}/${split}/${split}.json.gz"
 
-srun python -um goat.run \
+srun python -um goat_bench.run \
   --run-type eval \
   --exp-config config/experiments/ver_instance_imagenav.yaml \
   habitat_baselines.num_environments=2 \
-  habitat_baselines.rl.policy.name=PointNavResnetCLIPPolicy \
+  habitat_baselines.rl.policy.name=GOATPolicy \
   habitat_baselines.tensorboard_dir=$tensorboard_dir \
   habitat_baselines.eval_ckpt_path_dir=$eval_ckpt_path_dir \
   habitat_baselines.checkpoint_folder=$eval_ckpt_path_dir \
diff --git a/scripts/eval/1-languagenav-eval.sh b/scripts/eval/1-languagenav-eval.sh
index cfc2a93..2b228ca 100644
--- a/scripts/eval/1-languagenav-eval.sh
+++ b/scripts/eval/1-languagenav-eval.sh
@@ -2,12 +2,12 @@
 #SBATCH --job-name=goat
 #SBATCH --output=slurm_logs/eval/goat-%j.out
 #SBATCH --error=slurm_logs/eval/goat-%j.err
-#SBATCH --gpus 1
+#SBATCH --gpus a40:1
 #SBATCH --nodes 1
 #SBATCH --cpus-per-task 6
 #SBATCH --ntasks-per-node 1
-#SBATCH --constraint="a40|rtx_6000|2080_ti"
-#SBATCH --partition=short
+#SBATCH --partition=cvmlp-lab
+#SBATCH --qos=short
 #SBATCH --exclude=xaea-12
 #SBATCH --signal=USR1@100
 
@@ -32,11 +32,11 @@ DATA_PATH="data/datasets/languagenav/hm3d/v5_final/"
 echo "Evaluating ckpt: ${eval_ckpt_path_dir}"
 echo "Data path: ${DATA_PATH}/${split}/${split}.json.gz"
 
-srun python -um goat.run \
+srun python -um goat_bench.run \
   --run-type eval \
   --exp-config config/experiments/ver_language_nav.yaml \
   habitat_baselines.num_environments=20 \
-  habitat_baselines.rl.policy.name=PointNavResnetCLIPPolicy \
+  habitat_baselines.rl.policy.name=GOATPolicy \
   habitat_baselines.tensorboard_dir=$tensorboard_dir \
   habitat_baselines.eval_ckpt_path_dir=$eval_ckpt_path_dir \
   habitat_baselines.checkpoint_folder=$eval_ckpt_path_dir \
diff --git a/scripts/train/1-instance-imagenav-ver.sh b/scripts/train/1-instance-imagenav-ver.sh
index 9af914f..2a09c41 100644
--- a/scripts/train/1-instance-imagenav-ver.sh
+++ b/scripts/train/1-instance-imagenav-ver.sh
@@ -2,13 +2,13 @@
 #SBATCH --job-name=goat
 #SBATCH --output=slurm_logs/goat-ver-%j.out
 #SBATCH --error=slurm_logs/goat-ver-%j.err
-#SBATCH --gpus 4
+#SBATCH --gpus a40:4
 #SBATCH --nodes 1
 #SBATCH --cpus-per-task 10
 #SBATCH --ntasks-per-node 4
-#SBATCH --constraint=a40
+#SBATCH --partition=cvmlp-lab
+#SBATCH --qos=short
 #SBATCH --exclude=megabot,gundam,kitt,cheetah
-#SBATCH --partition=short
 #SBATCH --signal=USR1@100
 #SBATCH --requeue
 
@@ -30,12 +30,12 @@ TENSORBOARD_DIR="tb/iin/ver/resnetclip_rgb_clip_image/seed_1/"
 CHECKPOINT_DIR="data/new_checkpoints/iin/ver/resnetclip_rgb_clip_image/seed_1/"
 DATA_PATH="data/datasets/iin/hm3d/v2/"
 
-srun python -um goat.run \
+srun python -um goat_bench.run \
   --run-type train \
   --exp-config config/experiments/ver_instance_imagenav.yaml \
   habitat_baselines.trainer_name="ver" \
   habitat_baselines.num_environments=32 \
-  habitat_baselines.rl.policy.name=PointNavResnetCLIPPolicy \
+  habitat_baselines.rl.policy.name=GOATPolicy \
   habitat_baselines.rl.ddppo.train_encoder=False \
   habitat_baselines.rl.ddppo.backbone=resnet50_clip_avgpool \
   habitat_baselines.tensorboard_dir=${TENSORBOARD_DIR} \
diff --git a/scripts/train/1-language-nav-ver.sh b/scripts/train/1-language-nav-ver.sh
index d7e7c4b..5fb014a 100644
--- a/scripts/train/1-language-nav-ver.sh
+++ b/scripts/train/1-language-nav-ver.sh
@@ -2,13 +2,13 @@
 #SBATCH --job-name=goat
 #SBATCH --output=slurm_logs/goat-ver-%j.out
 #SBATCH --error=slurm_logs/goat-ver-%j.err
-#SBATCH --gpus 4
+#SBATCH --gpus a40:4
 #SBATCH --nodes 1
 #SBATCH --cpus-per-task 10
 #SBATCH --ntasks-per-node 4
-#SBATCH --constraint=a40
+#SBATCH --partition=cvmlp-lab
+#SBATCH --qos=short
 #SBATCH --exclude=megabot,gundam,kitt,cheetah
-#SBATCH --partition=short
 #SBATCH --signal=USR1@100
 #SBATCH --requeue
 
@@ -30,12 +30,12 @@ TENSORBOARD_DIR="tb/languagenav/ver/resnetclip_rgb_text/seed_1/"
 CHECKPOINT_DIR="data/new_checkpoints/languagenav/ver/resnetclip_rgb_text/seed_1/"
 DATA_PATH="data/datasets/languagenav/hm3d/v5_final/"
 
-srun python -um goat.run \
+srun python -um goat_bench.run \
   --run-type train \
   --exp-config config/experiments/ver_language_nav.yaml \
   habitat_baselines.trainer_name="ver" \
   habitat_baselines.num_environments=32 \
-  habitat_baselines.rl.policy.name=PointNavResnetCLIPPolicy \
+  habitat_baselines.rl.policy.name=GOATPolicy \
   habitat_baselines.rl.ddppo.train_encoder=False \
   habitat_baselines.rl.ddppo.backbone=resnet50_clip_avgpool \
   habitat_baselines.tensorboard_dir=${TENSORBOARD_DIR} \
diff --git a/scripts/train/1-ovon-ver.sh b/scripts/train/1-ovon-ver.sh
index 846e44b..e6e5177 100644
--- a/scripts/train/1-ovon-ver.sh
+++ b/scripts/train/1-ovon-ver.sh
@@ -2,12 +2,12 @@
 #SBATCH --job-name=goat
 #SBATCH --output=slurm_logs/goat-ver-%j.out
 #SBATCH --error=slurm_logs/goat-ver-%j.err
-#SBATCH --gpus 1
+#SBATCH --gpus a40:4
 #SBATCH --nodes 1
 #SBATCH --cpus-per-task 10
-#SBATCH --ntasks-per-node 1
-#SBATCH --constraint=a40
-#SBATCH --partition=short
+#SBATCH --ntasks-per-node 4
+#SBATCH --partition=cvmlp-lab
+#SBATCH --qos=short
 #SBATCH --signal=USR1@100
 #SBATCH --requeue
 
@@ -28,12 +28,12 @@ TENSORBOARD_DIR="tb/ovon/ver/resnetclip_rgb_text/seed_1/"
 CHECKPOINT_DIR="data/new_checkpoints/ovon/ver/resnetclip_rgb_text/seed_1/"
 DATA_PATH="data/datasets/ovon/hm3d/v5_final/"
 
-srun python -um goat.run \
+srun python -um goat_bench.run \
   --run-type train \
   --exp-config config/experiments/ver_objectnav.yaml \
   habitat_baselines.trainer_name="ver" \
   habitat_baselines.num_environments=8 \
-  habitat_baselines.rl.policy.name=PointNavResNetCLIPPolicy \
+  habitat_baselines.rl.policy.name=GOATPolicy \
   habitat_baselines.rl.ddppo.train_encoder=False \
   habitat_baselines.rl.ddppo.backbone=resnet50_clip_avgpool \
   habitat_baselines.tensorboard_dir=${TENSORBOARD_DIR} \
diff --git a/scripts/train/2-goat-ver-monolithic.sh b/scripts/train/2-goat-ver-monolithic.sh
index 4cbe099..2a5e5a2 100644
--- a/scripts/train/2-goat-ver-monolithic.sh
+++ b/scripts/train/2-goat-ver-monolithic.sh
@@ -2,13 +2,13 @@
 #SBATCH --job-name=goat
 #SBATCH --output=slurm_logs/goat-ver-%j.out
 #SBATCH --error=slurm_logs/goat-ver-%j.err
-#SBATCH --gpus 4
+#SBATCH --gpus a40:4
 #SBATCH --nodes 1
 #SBATCH --cpus-per-task 10
 #SBATCH --ntasks-per-node 4
-#SBATCH --constraint=a40
+#SBATCH --partition=cvmlp-lab
+#SBATCH --qos=short
 #SBATCH --exclude=gundam,xaea-12,baymax
-#SBATCH --partition=short
 #SBATCH --signal=USR1@100
 #SBATCH --requeue