diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml
new file mode 100644
index 000000000..419f01112
--- /dev/null
+++ b/.github/workflows/build-and-test.yml
@@ -0,0 +1,212 @@
+# Copyright (c) 2024 NVIDIA CORPORATION.  All rights reserved.
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+name: Build and Test Warp
+
+on:
+  workflow_call:
+  workflow_dispatch:
+
+env:
+  PYTHON_VERSION: 3.11
+
+jobs:
+  build-warp-windows:
+    runs-on: windows-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          lfs: true
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ env.PYTHON_VERSION }}
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install --upgrade numpy
+          tools/packman/packman install -l _build/target-deps/cuda cuda 11.8.0_522.06-abe3d9d7-windows-x86_64
+          tools/packman/packman install -l _build/host-deps/msvc msvc 2019-16.11.24
+          tools/packman/packman install -l _build/host-deps/winsdk winsdk 10.17763
+      - name: Build
+        run: |
+          python build_lib.py --cuda_path=_build/target-deps/cuda --msvc_path=_build/host-deps/msvc/VC/Tools/MSVC/14.29.30133 --sdk_path=_build/host-deps/winsdk
+      - name: Upload build artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: build-artifact-windows
+          path: ./warp/bin/
+
+  build-warp-ubuntu:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          lfs: true
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ env.PYTHON_VERSION }}
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install --upgrade numpy
+      - name: Build Warp
+        run: |
+          tools/packman/packman install -l _build/target-deps/cuda cuda 11.8.0_520.61-d8963068-linux-x86_64
+          python build_lib.py --cuda_path=_build/target-deps/cuda
+      - name: Upload build artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: build-artifact-ubuntu
+          path: ./warp/bin/
+
+  build-warp-macos:
+    runs-on: macos-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          lfs: true
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ env.PYTHON_VERSION }}
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install --upgrade numpy
+      - name: Build
+        run: |
+          python build_lib.py
+      - name: Upload build artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: build-artifact-macos
+          path: ./warp/bin/
+
+  test-warp-windows:
+    runs-on: windows-latest
+    needs: build-warp-windows
+    env:
+      OS: windows-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          lfs: true
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ env.PYTHON_VERSION }}
+      - name: Download Warp build artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: build-artifact-windows
+          path: ./warp/bin/
+      - name: Install Dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install --upgrade numpy coverage[toml] usd-core
+          pip install .
+      - name: Run Tests
+        run: python -m warp.tests --junit-report-xml rspec.xml --coverage --coverage-xml coverage.xml -s autodetect
+      - name: Test Summary
+        uses: test-summary/action@v2.3
+        with:
+          paths: "rspec.xml"
+          show: "fail"
+        if: always()
+      - name: Upload coverage reports to Codecov
+        uses: codecov/codecov-action@v4.4.0
+        with:
+          env_vars: OS,PYTHON_VERSION
+          files: ./coverage.xml
+          flags: unittests
+          token: ${{ secrets.CODECOV_TOKEN }}
+
+  test-warp-ubuntu:
+    runs-on: ubuntu-latest
+    needs: build-warp-ubuntu
+    env:
+      OS: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          lfs: true
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ env.PYTHON_VERSION }}
+      - name: Download Warp build artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: build-artifact-ubuntu
+          path: ./warp/bin/
+      - name: Install Dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install --upgrade numpy coverage[toml] usd-core
+          pip install .
+      - name: Run Tests
+        run: python -m warp.tests --junit-report-xml rspec.xml --coverage --coverage-xml coverage.xml -s autodetect
+      - name: Test Summary
+        uses: test-summary/action@v2.3
+        with:
+          paths: "rspec.xml"
+          show: "fail"
+        if: always()
+      - name: Upload coverage reports to Codecov
+        uses: codecov/codecov-action@v4.4.0
+        with:
+          env_vars: OS,PYTHON_VERSION
+          files: ./coverage.xml
+          flags: unittests
+          token: ${{ secrets.CODECOV_TOKEN }}
+
+  test-warp-macos:
+    runs-on: macos-latest
+    needs: build-warp-macos
+    env:
+      OS: macos-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          lfs: true
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ env.PYTHON_VERSION }}
+      - name: Download Warp build artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: build-artifact-macos
+          path: ./warp/bin/
+      - name: Install Dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install --upgrade numpy coverage[toml] usd-core
+          pip install .
+      - name: Run Tests
+        run: python -m warp.tests --junit-report-xml rspec.xml --coverage --coverage-xml coverage.xml -s autodetect
+      - name: Test Summary
+        uses: test-summary/action@v2.3
+        with:
+          paths: "rspec.xml"
+          show: "fail"
+        if: always()
+      - name: Upload coverage reports to Codecov
+        uses: codecov/codecov-action@v4.4.0
+        with:
+          env_vars: OS,PYTHON_VERSION
+          files: ./coverage.xml
+          flags: unittests
+          token: ${{ secrets.CODECOV_TOKEN }}
diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
new file mode 100644
index 000000000..b033bb5bb
--- /dev/null
+++ b/.github/workflows/nightly.yml
@@ -0,0 +1,18 @@
+# Copyright (c) 2024 NVIDIA CORPORATION.  All rights reserved.
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+# Nightly workflow only runs on the default branch
+name: Nightlies
+
+on:
+  schedule:
+    - cron: "45 9 * * *" # 7AM UTC, 12AM PST, 3AM EST
+
+jobs:
+  build-and-test:
+    uses: ./.github/workflows/build-and-test.yml
+    secrets: inherit
diff --git a/.github/workflows/pr.yml b/.github/workflows/pr.yml
new file mode 100644
index 000000000..37ec6de68
--- /dev/null
+++ b/.github/workflows/pr.yml
@@ -0,0 +1,23 @@
+# Copyright (c) 2024 NVIDIA CORPORATION.  All rights reserved.
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+name: Pull Request
+
+on:
+  push:
+    branches:
+      - "pull-request/[0-9]+"
+  pull_request: # Remove when using nv-gha-runners
+
+concurrency:
+  group: ${{ github.workflow }}-on-${{ github.event_name }}-from-${{ github.ref_name }}
+  cancel-in-progress: true
+
+jobs:
+  build-and-test:
+    uses: ./.github/workflows/build-and-test.yml
+    secrets: inherit
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 77cf94c18..a13400ccb 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,3 +1,13 @@
+ci:
+  autofix_commit_msg: |
+    [pre-commit.ci] auto code formatting
+  autofix_prs: false
+  autoupdate_branch: ""
+  autoupdate_commit_msg: "[pre-commit.ci] pre-commit autoupdate"
+  autoupdate_schedule: quarterly
+  skip: []
+  submodules: false
+
 # See https://pre-commit.com for more information
 # See https://pre-commit.com/hooks.html for more hooks
 repos:
diff --git a/codecov.yml b/codecov.yml
new file mode 100644
index 000000000..09b10d377
--- /dev/null
+++ b/codecov.yml
@@ -0,0 +1,14 @@
+coverage:
+  status:
+    project: # More options at https://docs.codecov.com/docs/commit-status
+      default:
+        target: auto #default
+        threshold: "5"
+        base: auto
+
+comment:
+  behavior: default
+  require_changes: false # if true: only post the comment if coverage changes
+  hide_project_coverage: false # [true :: only show coverage on the git diff aka patch coverage]]
+  require_base: false # [true :: must have a base report to post]
+  require_head: true # [true :: must have a head report to post]