diff --git a/.github/workflows/nightly-training.yaml b/.github/workflows/nightly-training.yaml
new file mode 100644
index 00000000..b06f6d9d
--- /dev/null
+++ b/.github/workflows/nightly-training.yaml
@@ -0,0 +1,84 @@
+name: Nightly Training
+on:
+  # push:
+  workflow_dispatch:
+    inputs:
+      branch:
+        description: 'Branch to test'
+        required: true
+        default: 'main'
+  schedule:
+    - cron: '0 8 * * *'  # 8 AM UTC = midnight PST
+
+permissions:
+  contents: read
+
+jobs:
+  training:
+    runs-on: codebuild-holosoma-gpu-build-${{ github.run_id }}-${{ github.run_attempt }}
+    strategy:
+      matrix:
+        experiment:
+        - g1-29dof
+        - t1-29dof
+        - g1-29dof-fast-sac
+        - t1-29dof-fast-sac
+        multigpu: ['False', 'True']
+        simulator: [isaacgym, isaacsim]
+        extra_args: [""]
+        #TODO: fix AWS perms for pulling s3 assets
+        # include:
+        # - experiment: g1-29dof-wbt
+        #   simulator: isaacsim
+        #   multigpu: 'False'
+        #   extra_args: --command.setup_terms.motion_command.params.motion_config.motion_file=s3://far-holosoma-assets/data/motions/g1_29dof/whole_body_tracking/motion_dance_v3.npz
+        # - experiment: g1-29dof-wbt-fast-sac
+        #   simulator: isaacsim
+        #   multigpu: 'False'
+        #   extra_args: --command.setup_terms.motion_command.params.motion_config.motion_file=s3://far-holosoma-assets/data/motions/g1_29dof/whole_body_tracking/motion_dance_v3.npz --algo.config.buffer_size=384
+
+    name: Train ${{ matrix.experiment }} on ${{ matrix.multigpu == 'True' && 'multi-gpu' || 'single-gpu' }} using ${{ matrix.simulator }}
+    timeout-minutes: 720 # 12 hours
+    container:
+      image: 982423663241.dkr.ecr.us-west-2.amazonaws.com/holosoma:latest
+      options: "--gpus all --runtime=nvidia --shm-size=12g"
+      volumes:
+        - "precommit-cache:/github/home/.cache/pre-commit"
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v6
+        with:
+          ref: ${{ github.event.inputs.branch || 'main' }}
+      - name: Run training
+        env:
+          WANDB_API_KEY: ${{ secrets.WANDB_PUB_API_KEY }}
+        shell: bash
+        timeout-minutes: 720 # 12 hours
+        run: |
+          ln -s /root/.holosoma_deps "$HOME/.holosoma_deps"
+          if [[ ! -L /workspace/holosoma ]]; then
+            rm -rf /workspace/holosoma
+            ln -sfF "$GITHUB_WORKSPACE" /workspace/holosoma
+          fi
+          source scripts/source_${{ matrix.simulator }}_setup.sh
+          nvidia-smi
+          python -m wandb login
+          python tests/nightly/nightly.py exp:${{ matrix.experiment }} \
+            logger:wandb --logger.video.enabled=False \
+            simulator:${{ matrix.simulator }} \
+            --training.multigpu=${{ matrix.multigpu }} ${{ matrix.extra_args }}
+
+  evaluate-results:
+    needs: [training]
+    runs-on: codebuild-holosoma-cpu-build-${{ github.run_id }}-${{ github.run_attempt }}
+    if: always()
+    steps:
+      - name: Check results
+        run: |
+          if [[ "${{ needs.training.result }}" == "success" ]]; then
+            echo "All nightly training tests passed!"
+            exit 0
+          else
+            echo "Some training tests failed."
+            exit 1
+          fi