diff --git a/common.mk b/common.mk
index 1fa626cf..1b756089 100644
--- a/common.mk
+++ b/common.mk
@@ -56,6 +56,7 @@ include $(base_dir)/generators/cva6/cva6.mk
 include $(base_dir)/generators/tracegen/tracegen.mk
 include $(base_dir)/generators/nvdla/nvdla.mk
 include $(base_dir)/tools/dromajo/dromajo.mk
+include $(base_dir)/tools/torture.mk
 
 #########################################################################################
 # Prerequisite lists
diff --git a/docs/Advanced-Concepts/Debugging-RTL.rst b/docs/Advanced-Concepts/Debugging-RTL.rst
index 6831cc4a..79b9428e 100644
--- a/docs/Advanced-Concepts/Debugging-RTL.rst
+++ b/docs/Advanced-Concepts/Debugging-RTL.rst
@@ -83,8 +83,20 @@ Torture tests
 The RISC-V torture utility generates random RISC-V assembly streams, compiles them,
 runs them on both the Spike functional model and the SW simulator, and verifies
 identical program behavior. The torture utility can also be configured to run
-continuously for stress-testing. The torture utility exists within the ``utilities``
-directory.
+continuously for stress-testing. The torture utility exists within the ``tools``
+directory. To run torture tests, run ``make`` in the simulation directories:
+
+.. code-block:: shell
+
+  make CONFIG=CustomConfig torture
+
+To run overnight tests (repeated random tests), run
+
+.. code-block:: shell
+
+  make CONFIG=CustomConfig TORTURE_ONIGHT_OPTIONS=<overnight options> torture-overnight
+
+You can find the overnight options in `overnight/src/main/scala/main.scala` in the torture repo.  
 
 Firesim Debugging
 ---------------------------
diff --git a/toolchains/esp-tools/riscv-isa-sim b/toolchains/esp-tools/riscv-isa-sim
index 467da4f6..34741e07 160000
--- a/toolchains/esp-tools/riscv-isa-sim
+++ b/toolchains/esp-tools/riscv-isa-sim
@@ -1 +1 @@
-Subproject commit 467da4f613e2a447af35e69ee4f14e5adc94664f
+Subproject commit 34741e07bc6b56f1762ce579537948d58e28cd5a
diff --git a/toolchains/riscv-tools/riscv-isa-sim b/toolchains/riscv-tools/riscv-isa-sim
index bf4b1e09..ce42f1b5 160000
--- a/toolchains/riscv-tools/riscv-isa-sim
+++ b/toolchains/riscv-tools/riscv-isa-sim
@@ -1 +1 @@
-Subproject commit bf4b1e09ed8e7a11ecff9891b12ce5d7f3375722
+Subproject commit ce42f1b55a3fa5a3a522439b5370be2256f68862
diff --git a/tools/torture b/tools/torture
index 59b0f0f2..b2b66a66 160000
--- a/tools/torture
+++ b/tools/torture
@@ -1 +1 @@
-Subproject commit 59b0f0f224ff4f1eb6ebb1b4dd7eaf1ab3fac2e5
+Subproject commit b2b66a66d51b360e0ae95017774d03377c78c574
diff --git a/tools/torture.mk b/tools/torture.mk
new file mode 100644
index 00000000..33bf98f6
--- /dev/null
+++ b/tools/torture.mk
@@ -0,0 +1,18 @@
+HELP_COMMANDS += \
+"   torture                = run torture on the RTL testbench" \
+"   torture-overnight      = run torture overnight tests (set TORTURE_ONIGHT_OPTIONS to pass test options)"
+
+#########################################################################################
+# run torture rules
+#########################################################################################
+.PHONY: torture torture-overnight
+
+torture: $(output_dir) $(sim)
+	$(MAKE) -C $(base_dir)/tools/torture/output clean
+	$(MAKE) -C $(base_dir)/tools/torture R_SIM=$(sim) gen rtest
+	cp -r $(base_dir)/tools/torture/output $(output_dir)/torture
+	rm $(output_dir)/torture/Makefile
+
+TORTURE_ONIGHT_OPTIONS :=
+torture-overnight: $(output_dir) $(sim)
+	$(MAKE) -C $(base_dir)/tools/torture R_SIM=$(sim) OPTIONS="$(TORTURE_ONIGHT_OPTIONS)" rnight