diff --git a/.github/workflows/ci-release-TEMPLATE.yml b/.github/workflows/ci-release-TEMPLATE.yml
new file mode 100644
index 0000000000..0a2e6a0846
--- /dev/null
+++ b/.github/workflows/ci-release-TEMPLATE.yml
@@ -0,0 +1,410 @@
+name: Garage CI <Release Version>
+
+env:
+  GARAGE_GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+  CODECOV_TOKEN: ${{ secrets.CODECOV_TOKEN }}
+  TRAVIS_COMMIT_RANGE: origin/${{ github.base_ref }}...origin/${{ github.head_ref }}
+  DOCKER_TAG: garage-ci-${{ github.run_id }}
+  OWNER: "rlworkgroup"
+  DOCKER_CACHE_REPO: "garage-ci"
+  MJKEY: ${{ secrets.MJKEY }}
+  CI_USER: rlworkgroupbot
+
+on:
+#  schedule:
+#    - cron: '0 9 * * *'
+#  pull-request:
+#    branches:
+#      - '<release-branch-name>'
+
+jobs:
+  build_docker_container:
+    name: Build Docker Container
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Docker info
+        run: docker version
+      - uses: actions/checkout@v2
+#        with:
+#          ref: <release-branch-name>
+#        with:
+#          fetch-depth: 0
+      - name: Login to GitHub Package Registry
+        run: echo ${{ secrets.CI_REGISTRY_TOKEN }} | docker login docker.pkg.github.com -u ${CI_USER} --password-stdin
+      - name: Build Docker container
+        run: |
+          docker build . \
+            -f docker/Dockerfile \
+            --target garage-dev-18.04 \
+            -t "${DOCKER_TAG}" \
+            --build-arg GARAGE_GH_TOKEN \
+            --cache-from="docker.pkg.github.com/${OWNER}/${DOCKER_CACHE_REPO}/${DOCKER_TAG}"
+      - name: Push to cache (GitHub Package Registry)
+        run: |
+          docker tag "${DOCKER_TAG}" "docker.pkg.github.com/${OWNER}/${DOCKER_CACHE_REPO}/${DOCKER_TAG}"
+          docker push "docker.pkg.github.com/${OWNER}/${DOCKER_CACHE_REPO}/${DOCKER_TAG}"
+
+
+  check_pre_commit:
+    name: Check pre-commit
+    runs-on: ubuntu-latest
+    needs: build_docker_container
+
+    steps:
+    - uses: actions/checkout@v2
+#      with:
+#        ref: <release-branch-name>
+#      with:
+#        fetch-depth: 0
+    - name: Login to GitHub Package Registry
+      if: github.event_name == 'pull_request'
+      run: echo ${{ secrets.CI_REGISTRY_TOKEN }} | docker login docker.pkg.github.com -u ${CI_USER} --password-stdin
+    - name: Pull from cache (GitHub Package Registry)
+      if: github.event_name == 'pull_request'
+      run: docker pull "docker.pkg.github.com/${OWNER}/${DOCKER_CACHE_REPO}/${DOCKER_TAG}"
+    - name: Tag docker image
+      if: github.event_name == 'pull_request'
+      run: docker tag docker.pkg.github.com/${OWNER}/${DOCKER_CACHE_REPO}/${DOCKER_TAG} ${DOCKER_TAG}
+    - name: Check pre-commit
+      if: github.event_name == 'pull_request'
+      run: |
+        docker run \
+          -e TRAVIS_COMMIT_RANGE \
+          -e MJKEY \
+          --memory 6500m \
+          --memory-swap 6500m \
+          "${DOCKER_TAG}" scripts/travisci/check_precommit.sh
+
+
+  normal_test:
+    name: Normal Tests
+    runs-on: ubuntu-latest
+    needs: check_pre_commit
+
+    steps:
+    - uses: actions/checkout@v2
+#      with:
+#        ref: <release-branch-name>
+#      with:
+#        fetch-depth: 0
+    - name: Login to GitHub Package Registry
+      run: echo ${{ secrets.CI_REGISTRY_TOKEN }} | docker login docker.pkg.github.com -u ${CI_USER} --password-stdin
+    - name: Pull from cache (GitHub Package Registry)
+      run: docker pull "docker.pkg.github.com/${OWNER}/${DOCKER_CACHE_REPO}/${DOCKER_TAG}"
+    - name: Tag docker image
+      run: docker tag docker.pkg.github.com/${OWNER}/${DOCKER_CACHE_REPO}/${DOCKER_TAG} ${DOCKER_TAG}
+    - name: Normal tests
+      run: |
+        ci_env="$(bash <(curl -s https://codecov.io/env))" &&
+        docker run \
+          -e TRAVIS_COMMIT_RANGE \
+          -e MJKEY \
+          -e GITHUB_ACTIONS \
+          -e CODECOV_TOKEN \
+          $ci_env\
+          --memory 6500m \
+          --memory-swap 6500m \
+          "${DOCKER_TAG}" \
+          /bin/bash -c \
+          '[ ! -f ${MJKEY_PATH} ] || mv ${MJKEY_PATH} ${MJKEY_PATH}.bak &&
+          pytest --cov=garage --cov-report=xml -m \
+              "not nightly and not huge and not flaky and not large and not mujoco and not mujoco_long" --durations=20 &&
+          for i in {1..5}; do
+              bash <(curl -s https://codecov.io/bash --retry 5) -Z && break
+              if [ $i == 5 ]; then
+                  exit 1
+              else
+                  echo "Retry ${i}..."
+                  sleep 30
+              fi
+          done'
+
+
+  large_test:
+    name: Large Tests
+    runs-on: ubuntu-latest
+    needs: check_pre_commit
+
+    steps:
+    - uses: actions/checkout@v2
+#      with:
+#        ref: <release-branch-name>
+#      with:
+#        fetch-depth: 0
+    - name: Login to GitHub Package Registry
+      run: echo ${{ secrets.CI_REGISTRY_TOKEN }} | docker login docker.pkg.github.com -u ${CI_USER} --password-stdin
+    - name: Pull from cache (GitHub Package Registry)
+      run: docker pull "docker.pkg.github.com/${OWNER}/${DOCKER_CACHE_REPO}/${DOCKER_TAG}"
+    - name: Tag docker image
+      run: docker tag docker.pkg.github.com/${OWNER}/${DOCKER_CACHE_REPO}/${DOCKER_TAG} ${DOCKER_TAG}
+    - name: Large tests
+      run: |
+        ci_env="$(bash <(curl -s https://codecov.io/env))" &&
+        docker run \
+          -e TRAVIS_COMMIT_RANGE \
+          -e MJKEY \
+          -e GITHUB_ACTIONS \
+          -e CODECOV_TOKEN \
+          $ci_env\
+          --memory 6500m \
+          --memory-swap 6500m \
+          "${DOCKER_TAG}" \
+          /bin/bash -c \
+          '[ ! -f ${MJKEY_PATH} ] || mv ${MJKEY_PATH} ${MJKEY_PATH}.bak &&
+          pytest --cov=garage --cov-report=xml -m "large and not flaky" --durations=20 &&
+          for i in {1..5}; do
+              bash <(curl -s https://codecov.io/bash --retry 5) -Z && break
+              if [ $i == 5 ]; then
+                  exit 1
+              else
+                  echo "Retry ${i}..."
+                  sleep 30
+              fi
+          done'
+
+
+  mujoco_test:
+    name: MuJoCo-Based Tests
+    runs-on: ubuntu-latest
+    needs: check_pre_commit
+
+    steps:
+    - uses: actions/checkout@v2
+#      with:
+#        ref: <release-branch-name>
+#      with:
+#        fetch-depth: 0
+    - name: Login to GitHub Package Registry
+      run: echo ${{ secrets.CI_REGISTRY_TOKEN }} | docker login docker.pkg.github.com -u ${CI_USER} --password-stdin
+    - name: Pull from cache (GitHub Package Registry)
+      run: docker pull "docker.pkg.github.com/${OWNER}/${DOCKER_CACHE_REPO}/${DOCKER_TAG}"
+    - name: Tag docker image
+      run: docker tag docker.pkg.github.com/${OWNER}/${DOCKER_CACHE_REPO}/${DOCKER_TAG} ${DOCKER_TAG}
+    - name: MuJoCo tests
+      run: |
+        ci_env="$(bash <(curl -s https://codecov.io/env))" &&
+        docker run \
+          -e TRAVIS_COMMIT_RANGE \
+          -e MJKEY \
+          -e GITHUB_ACTIONS \
+          -e CODECOV_TOKEN \
+          $ci_env\
+          --memory 6500m \
+          --memory-swap 6500m \
+          "${DOCKER_TAG}" \
+          /bin/bash -c \
+          'pytest --cov=garage --cov-report=xml -m "mujoco and not flaky" --durations=20 &&
+          for i in {1..5}; do
+              bash <(curl -s https://codecov.io/bash --retry 5) -Z && break
+              if [ $i == 5 ]; then
+                  exit 1
+              else
+                  echo "Retry ${i}..."
+                  sleep 30
+              fi
+          done'
+
+
+  mujoco_test_long:
+    name: Large MuJoCo-Based Tests
+    runs-on: ubuntu-latest
+    needs: check_pre_commit
+
+    steps:
+    - uses: actions/checkout@v2
+#      with:
+#        ref: <release-branch-name>
+#      with:
+#        fetch-depth: 0
+    - name: Login to GitHub Package Registry
+      run: echo ${{ secrets.CI_REGISTRY_TOKEN }} | docker login docker.pkg.github.com -u ${CI_USER} --password-stdin
+    - name: Pull from cache (GitHub Package Registry)
+      run: docker pull "docker.pkg.github.com/${OWNER}/${DOCKER_CACHE_REPO}/${DOCKER_TAG}"
+    - name: Tag docker image
+      run: docker tag docker.pkg.github.com/${OWNER}/${DOCKER_CACHE_REPO}/${DOCKER_TAG} ${DOCKER_TAG}
+    - name: Large MuJoCo tests
+      run: |
+        ci_env="$(bash <(curl -s https://codecov.io/env))" &&
+        docker run \
+          -e TRAVIS_COMMIT_RANGE \
+          -e MJKEY \
+          -e GITHUB_ACTIONS \
+          -e CODECOV_TOKEN \
+          $ci_env\
+          --memory 6500m \
+          --memory-swap 6500m \
+          "${DOCKER_TAG}" \
+          /bin/bash -c \
+          'pytest --cov=garage --cov-report=xml -m "mujoco_long and not flaky" --durations=20 &&
+          for i in {1..5}; do
+              bash <(curl -s https://codecov.io/bash --retry 5) -Z && break
+              if [ $i == 5 ]; then
+                  exit 1
+              else
+                  echo "Retry ${i}..."
+                  sleep 30
+              fi
+          done'
+
+
+  nightly_test:
+    name: Nightly Tests
+    runs-on: ubuntu-latest
+    needs: build_docker_container
+    if: github.event_name == 'schedule'
+
+    steps:
+    - uses: actions/checkout@v2
+#      with:
+#        ref: <release-branch-name>
+#      with:
+#        fetch-depth: 0
+    - name: Login to GitHub Package Registry
+      run: echo ${{ secrets.CI_REGISTRY_TOKEN }} | docker login docker.pkg.github.com -u ${CI_USER} --password-stdin
+    - name: Pull from cache (GitHub Package Registry)
+      run: docker pull "docker.pkg.github.com/${OWNER}/${DOCKER_CACHE_REPO}/${DOCKER_TAG}"
+    - name: Tag docker image
+      run: docker tag docker.pkg.github.com/${OWNER}/${DOCKER_CACHE_REPO}/${DOCKER_TAG} ${DOCKER_TAG}
+    - name: Nightly tests
+      run: |
+        ci_env="$(bash <(curl -s https://codecov.io/env))" &&
+        docker run \
+          -e TRAVIS_COMMIT_RANGE \
+          -e MJKEY \
+          -e GITHUB_ACTIONS \
+          -e CODECOV_TOKEN \
+          $ci_env\
+          --memory 6500m \
+          --memory-swap 6500m \
+          "${DOCKER_TAG}" pytest -v -m nightly
+
+
+  verify_envs_conda:
+    name: Verify Conda Environment Installation
+    runs-on: ubuntu-latest
+    needs: build_docker_container
+    if: github.event_name == 'schedule'
+
+    steps:
+    - uses: actions/checkout@v2
+#      with:
+#        ref: <release-branch-name>
+#      with:
+#        fetch-depth: 0
+    - name: Login to GitHub Package Registry
+      run: echo ${{ secrets.CI_REGISTRY_TOKEN }} | docker login docker.pkg.github.com -u ${CI_USER} --password-stdin
+    - name: Pull from cache (GitHub Package Registry)
+      run: docker pull "docker.pkg.github.com/${OWNER}/${DOCKER_CACHE_REPO}/${DOCKER_TAG}"
+    - name: Tag docker image
+      run: docker tag docker.pkg.github.com/${OWNER}/${DOCKER_CACHE_REPO}/${DOCKER_TAG} ${DOCKER_TAG}
+    - name: Verify Conda
+      run: |
+        docker run \
+        -e TRAVIS_COMMIT_RANGE \
+        -e MJKEY \
+        --memory 6500m \
+        --memory-swap 6500m \
+        "${DOCKER_TAG}" \
+        /bin/bash -c \
+        'CONDA_ROOT=$HOME/miniconda \
+        CONDA=${CONDA_ROOT}/bin/conda \
+        GARAGE_BIN=${CONDA_ROOT}/envs/garage-ci/bin; \
+        touch ${MJKEY_PATH} && \
+        wget https://repo.continuum.io/miniconda/Miniconda3-latest-Linux-x86_64.sh -O miniconda.sh && \
+        bash miniconda.sh -b -p ${CONDA_ROOT} && \
+        hash -r && \
+        ${CONDA} config --set always_yes yes --set changeps1 no && \
+        ${CONDA} install -c anaconda setuptools && \
+        ${CONDA} update -q conda && \
+        ${CONDA} init && \
+        ${CONDA} info -a && \
+        ${CONDA} create -n garage-ci python=3.5 pip -y && \
+        ${GARAGE_BIN}/pip install --upgrade pip setuptools && \
+        ${GARAGE_BIN}/pip install dist/garage.tar.gz[all,dev] && \
+        ${GARAGE_BIN}/pylint --disable=all --enable=import-error garage'
+
+
+  verify_envs_pipenv:
+    name: Verify Pipenv Environment Installation
+    runs-on: ubuntu-latest
+    needs: build_docker_container
+    if: github.event_name == 'schedule'
+
+    steps:
+    - uses: actions/checkout@v2
+#      with:
+#        ref: <release-branch-name>
+#      with:
+#        fetch-depth: 0
+    - name: Login to GitHub Package Registry
+      run: echo ${{ secrets.CI_REGISTRY_TOKEN }} | docker login docker.pkg.github.com -u ${CI_USER} --password-stdin
+    - name: Pull from cache (GitHub Package Registry)
+      run: docker pull "docker.pkg.github.com/${OWNER}/${DOCKER_CACHE_REPO}/${DOCKER_TAG}"
+    - name: Tag docker image
+      run: docker tag docker.pkg.github.com/${OWNER}/${DOCKER_CACHE_REPO}/${DOCKER_TAG} ${DOCKER_TAG}
+    - name: Verify Pipenv
+      run: |
+        docker run \
+        -e TRAVIS_COMMIT_RANGE \
+        -e MJKEY \
+        --memory 6500m \
+        --memory-swap 6500m \
+        "${DOCKER_TAG}" \
+        /bin/bash -c \
+        "export PATH=\$PATH_NO_VENV && \
+        export VIRTUAL_ENV= && \
+        export PIPENV_MAX_RETRIES=2 && \
+        touch \${MJKEY_PATH} && \
+        pip3 install --upgrade pip setuptools && \
+        pip3 install pipenv && \
+        pipenv --python=3.5 && \
+        pipenv install dist/garage.tar.gz[all,dev] && \
+        pipenv graph && \
+        # pylint will verify all imports work
+        pipenv run pylint --disable=all --enable=import-error garage"
+
+
+  deploy_to_pypi:
+    name: Deploy to PyPI
+    runs-on: ubuntu-latest
+    needs: [normal_test, large_test, mujoco_test, mujoco_test_long]
+    if: startsWith(github.ref, 'refs/tags/v')
+
+    steps:
+    - uses: actions/checkout@v2
+#      with:
+#        ref: <release-branch-name>
+#      with:
+#        fetch-depth: 0
+    - name: Set up Python 3.5
+      uses: actions/setup-python@v1
+      with:
+        python-version: 3.5
+    - name: Update Version
+      run: echo ${GITHUB_REF##*/} > VERSION
+    - name: Update setuptools
+      run: pip install --upgrade setuptools
+    - name: Setup Distribution
+      run: >-
+        python setup.py sdist
+    - name: Deploy to PyPI
+      uses: pypa/gh-action-pypi-publish@master
+      with:
+        user: __token__
+        password: ${{ secrets.PYPI_TOKEN }}
+
+
+  delete_docker_container:
+    name: Delete Docker Container
+    runs-on: ubuntu-latest
+    needs: [normal_test, large_test, mujoco_test, mujoco_test_long, nightly_test, verify_envs_conda, verify_envs_pipenv]
+    if: always()
+
+    steps:
+    - uses: actions/delete-package-versions@v1
+      with:
+        owner: ${{ env.OWNER }}
+        repo: ${{ env.DOCKER_CACHE_REPO }}
+        package-name: ${{ env.DOCKER_TAG }}
+        token: ${{ secrets.CI_REGISTRY_TOKEN }}
diff --git a/docs/user/update_ci_for_release.md b/docs/user/update_ci_for_release.md
new file mode 100644
index 0000000000..d9a7855618
--- /dev/null
+++ b/docs/user/update_ci_for_release.md
@@ -0,0 +1,28 @@
+# CI
+
+The CI must be updated whenever there is a new release
+
+### How to create new CI for release
+
+#### Make new scheduled CI for release branch
+**1. create new CI file in `.github/workflows` named `ci-<release_version>` in the master branch**
+
+**2. copy the workflow in the `ci-release-TEMPLATE` file over to the `ci-<release_version>` file**
+
+**3. rename the `name` attribute at the top of the file to `CI <release_version>`**
+
+**4. Fill in the checkout action placeholder, use `with: release-<branch-name>` for checkout action**
+
+**5. Uncomment the `schedule` trigger. It's also fine to delete the `pull-request` trigger, that will be handled in the next step**
+
+###backport CI to release branch**
+
+**1. create new CI file in `.github/workflows` named `ci-<release_version>` in the master branch**
+
+**2. copy the workflow in the `ci-release-TEMPLATE` file over to the `ci-<release_version>` file**
+
+**3. rename the `name` attribute at the top of the file to `CI <release_version>`**
+
+**4. Fill in the checkout action placeholder, use `with: fetch-depth: 0` for checkout action**
+
+**5. When creating a release branch, delete all the branch's CI files and add the new ci file.**