diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
new file mode 100644
index 00000000..cfbadcfe
--- /dev/null
+++ b/.github/workflows/build.yml
@@ -0,0 +1,35 @@
+name: Road Runner CI
+
+on:
+  push:
+    branches: [ "master", "main" ]
+  pull_request:
+    branches: [ "master", "main" ]
+  workflow_dispatch:
+
+defaults:
+  run:
+    working-directory: road-runner
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout repo
+      uses: actions/checkout@v4
+    - name: Setup Gradle
+      uses: gradle/actions/setup-gradle@v4
+      with:
+        validate-wrappers: true
+    - name: Build with Gradle
+      run: ./gradlew build
+
+    - name: Store test reports
+      if: failure()
+      uses: actions/upload-artifact@v4
+      with:
+        name: Test reports
+        path: |
+          **/build/reports/
+          **/build/test-results/
diff --git a/road-runner/actions/src/test/kotlin/com/acmerobotics/roadrunner/ActionRegressionTest.kt b/road-runner/actions/src/test/kotlin/com/acmerobotics/roadrunner/ActionRegressionTest.kt
index 7acfe6ca..fc9dccd3 100644
--- a/road-runner/actions/src/test/kotlin/com/acmerobotics/roadrunner/ActionRegressionTest.kt
+++ b/road-runner/actions/src/test/kotlin/com/acmerobotics/roadrunner/ActionRegressionTest.kt
@@ -44,9 +44,8 @@ class LabelAction(private val s: String) : Action {
 }
 
 class ActionRegressionTest {
-    @Test
-    @Strictfp
-    fun testTrajectoryActionBuilder() {
+    companion object {
+        @JvmField
         val base =
             TrajectoryActionBuilder(
                 { TurnAction(it) },
@@ -58,7 +57,11 @@ class ActionRegressionTest {
                 TranslationalVelConstraint(20.0),
                 ProfileAccelConstraint(-10.0, 10.0),
             )
+    }
 
+    @Test
+    @Strictfp
+    fun testTrajectoryActionBuilder() {
         assertEquals(
             "SequentialAction(initialActions=[Trajectory])",
             base
@@ -75,7 +78,11 @@ class ActionRegressionTest {
                 .build()
                 .toString(),
         )
+    }
 
+    @Test
+    @Strictfp
+    fun testTrajectoryContinuity() {
         assertEquals(
             "SequentialAction(initialActions=[Trajectory, SleepAction(dt=10.0), Trajectory])",
             base
@@ -96,7 +103,11 @@ class ActionRegressionTest {
                 .build()
                 .toString()
         )
+    }
 
+    @Test
+    @Strictfp
+    fun testTrajectoryTimeMarkers() {
         assertEquals(
             "SequentialAction(initialActions=[Trajectory, Trajectory, ParallelAction(initialActions=[" +
                 "SequentialAction(initialActions=" +
@@ -136,7 +147,11 @@ class ActionRegressionTest {
                 .build()
                 .toString()
         )
+    }
 
+    @Test
+    @Strictfp
+    fun testTrajectoryDispMarkers() {
         assertFails {
             base
                 .afterDisp(1.0, LabelAction("A"))