diff --git a/.github/actions/run-benchmarks-all-runtime-versions/action.yml b/.github/actions/run-benchmarks-all-runtime-versions/action.yml
new file mode 100644
index 000000000..d3b9cded7
--- /dev/null
+++ b/.github/actions/run-benchmarks-all-runtime-versions/action.yml
@@ -0,0 +1,59 @@
+name: Run benchmarks for all runtime versions
+
+inputs:
+  scheduler:
+    type: string  # A comma-separated list (no spaces!) is allowed.
+    required: true
+  feature-branch:
+    type: string
+    required: true
+  num-workers:
+    type: string  # Provide a comma-separated list without spaces.
+    description: The number of workers to be used by the scheduler.
+    required: true
+
+
+outputs:
+  output-files:
+    description: "The CSV files summarizing all benchmark results, separated by spaces"
+    value: ${{ steps.list-output-files.outputs.output-files }}
+
+
+runs:
+  using: "composite"
+  steps:
+    - name: Run C Benchmarks (feature branch)
+      id: benchmarks-feature
+      uses: lf-lang/reactor-c/.github/actions/run-benchmarks@automated-full-benchmark
+      with:
+        scheduler: ${{ inputs.scheduler }}
+        runtime-ref: ${{ inputs.feature-branch }}
+        target: c
+        num-workers: ${{ inputs.num-workers }}
+
+    - name: Run C Benchmarks (main branch)
+      id: benchmarks-main
+      uses: lf-lang/reactor-c/.github/actions/run-benchmarks@automated-full-benchmark
+      with:
+        scheduler: GEDF_NP,NP,adaptive
+        runtime-ref: main
+        target: c
+        num-workers: ${{ inputs.num-workers }}
+
+    - name: Run C++ Benchmarks (main branch)
+      id: benchmarks-main-cpp
+      uses: lf-lang/reactor-c/.github/actions/run-benchmarks@automated-full-benchmark
+      with:
+        scheduler: default
+        runtime-ref: master
+        target: cpp
+        num-workers: ${{ inputs.num-workers }}
+    
+    - name: List Output Files
+      id: list-output-files
+      run: |
+        echo "::set-output name=output-files::\
+          ${{ steps.benchmarks-feature.outputs.output-file }} \
+          ${{ steps.benchmarks-main.outputs.output-file }} \
+          ${{ steps.benchmarks-main-cpp.outputs.output-file }}"
+      shell: bash
diff --git a/.github/actions/run-benchmarks/action.yml b/.github/actions/run-benchmarks/action.yml
new file mode 100644
index 000000000..7904a1fca
--- /dev/null
+++ b/.github/actions/run-benchmarks/action.yml
@@ -0,0 +1,110 @@
+name: Run benchmarks
+description: Run benchmarks and collect results
+
+inputs:
+  scheduler:
+    type: string  # A comma-separated list (no spaces!) is allowed.
+    required: true
+  runtime-ref:
+    type: string
+    required: true
+  target:
+    type: string
+  num-workers:
+    type: string  # Provide a comma-separated list without spaces.
+    description: The number of workers to be used by the scheduler.
+    required: true
+  iterations:
+    type: number
+    description: The number of iterations with which to run each benchmark.
+    required: false
+    default: 12
+  repo-for-saving-data:
+    description: |
+      The directory name of the repository where graphs and CSVs from benchmarks should be saved.
+    type: string
+    default: benchmarks-lingua-franca
+  errors-file:
+    description: |
+      The file in which to write any error messages.
+    type: string
+    default: errors.txt
+
+
+outputs:
+  output-file:
+    description: "The CSV file summarizing all benchmark results"
+    value: ${{ steps.compute-output-file.outputs.output-file }}
+
+
+runs:
+  using: "composite"
+  steps:
+    - name: Check out requested branches
+      id: check-out
+      run: |
+        echo $(ls)
+        echo "Checking out ${{ inputs.runtime-ref }}"
+        SUBMODULE_DIR=org.lflang/src/lib/${{ inputs.target }}/reactor-${{ inputs.target }}
+        cd lf/$SUBMODULE_DIR && \
+            git checkout ${{ inputs.runtime-ref }} && cd ../../../../..
+        git checkout $(cat $SUBMODULE_DIR/lingua-franca-ref.txt)
+        echo "::set-output name=submodule-dir::$SUBMODULE_DIR"
+        cd ..
+      shell: bash
+
+    - name: Compute output file
+      id: compute-output-file
+      run: |
+        SHA=$(cd lf/${{ steps.check-out.outputs.submodule-dir }} && \
+          git rev-parse --short=7 HEAD && cd ../../../../../..)
+        OUTPUT_DIR=csvs/$(date -I)
+        mkdir -p ${{ inputs.repo-for-saving-data }}/csvs
+        OUTPUT_FILENAME=${{ inputs.scheduler }}-${{ inputs.num-workers }}-${{ inputs.runtime-ref }}-${SHA:0:7}.csv
+        cd ${{ inputs.repo-for-saving-data }}
+        EXISTING_FILE=$(find ./csvs -name $OUTPUT_FILENAME | head -n 1)
+        cd ..
+        if [[ -z $EXISTING_FILE ]]; then
+          mkdir -p ${{ inputs.repo-for-saving-data }}/$OUTPUT_DIR
+          echo "The collected benchmark results will be saved to $OUTPUT_DIR/$OUTPUT_FILENAME."
+          echo "::set-output name=output-file::$OUTPUT_DIR/$OUTPUT_FILENAME"
+        else
+          echo "The benchmark will not be run because results for that commit are already saved at $EXISTING_FILE."
+          echo "::set-output name=file-already-exists::true"
+          echo "::set-output name=output-file::$EXISTING_FILE"
+        fi
+      shell: bash
+
+    - name: Update LFC
+      run: |
+        cd lf
+        ./gradlew buildLfc
+        cd ..
+      shell: bash
+      if: ${{ ! steps.compute-output-file.outputs.file-already-exists }}
+
+    - name: Run benchmarks
+      run: |
+        # Allow at most 1 second per iteration. This will result in timeouts on runtime versions
+        # that are an order of magnitude slower than the unthreaded C runtime.
+        ./runner/run_benchmark.py -m \
+          continue_on_error=True \
+          timeout=${{ inputs.iterations }} \
+          iterations=${{ inputs.iterations }} \
+          benchmark="glob(*)" \
+          target=lf-${{ inputs.target }} \
+          size=fast \
+          ++target.params.scheduler=${{ inputs.scheduler }} \
+          ++stacktrace=True \
+          threads=${{ inputs.num-workers }} \
+          | tee >(grep "\[ERROR\]" >> ${{ inputs.errors-file }})
+        echo "::set-output name=output-file::$EXISTING_FILE"
+      shell: bash
+      if: ${{ ! steps.compute-output-file.outputs.file-already-exists }}
+
+    - name: Collect benchmark results
+      id: collect-results
+      run: |
+        ./runner/collect_results.py latest ${{ inputs.repo-for-saving-data }}/${{ steps.compute-output-file.outputs.output-file }}
+      shell: bash
+      if: ${{ ! steps.compute-output-file.outputs.file-already-exists }}
diff --git a/.github/actions/set-up-workspace/action.yml b/.github/actions/set-up-workspace/action.yml
new file mode 100644
index 000000000..69b2d4036
--- /dev/null
+++ b/.github/actions/set-up-workspace/action.yml
@@ -0,0 +1,37 @@
+
+name: Set up workspace
+description: Check out repositories, download software, install LFC, etc.
+runs:
+  using: "composite"
+  steps:
+    - name: Setup Python
+      uses: actions/setup-python@v2
+      with:
+        python-version: 3.8
+
+    - name: Checkout Lingua Franca repository
+      uses: actions/checkout@v2
+      with:
+        repository: lf-lang/lingua-franca
+        path: lf
+        fetch-depth: 0  # We may need to check out older refs
+        submodules: recursive
+
+    - name: Prepare LF build environment
+      uses: ./lf/.github/actions/prepare-build-env
+
+    - name: Install Python dependencies
+      run: pip3 install -r runner/requirements.txt
+      shell: bash
+
+    - name: Set LF_PATH and LF_BENCHMARKS_PATH environmental variable
+      run: |
+        echo "LF_PATH=$GITHUB_WORKSPACE/lf" >> $GITHUB_ENV
+        echo "LF_BENCHMARKS_PATH=$GITHUB_WORKSPACE" >> $GITHUB_ENV
+      shell: bash
+
+    - name: Install eu-stack
+      run: |
+        sudo apt-get update
+        sudo apt-get install elfutils
+      shell: bash
diff --git a/.github/actions/visualize-save-upload/action.yml b/.github/actions/visualize-save-upload/action.yml
new file mode 100644
index 000000000..51a6a5670
--- /dev/null
+++ b/.github/actions/visualize-save-upload/action.yml
@@ -0,0 +1,96 @@
+name: Visualize, Save, and Upload Benchmark Results
+
+inputs:
+  csv-files:
+    type: string
+    required: true
+  token:
+    type: string
+    description: Personal access token
+    required: true
+  id:
+    type: string
+    description: String that can be used in a file name to distinguish this from other similar runs.
+    required: true
+  finalize:
+    description: Whether this is the last run of this workflow to edit the same comment.
+    type: boolean
+    default: false
+  repo-for-saving-data:
+    description: |
+      The directory name of the repository where graphs and CSVs from benchmarks should be saved.
+    type: string
+    default: benchmarks-lingua-franca
+
+runs:
+  using: "composite"
+  steps:
+    - name: Make figure
+      run: |
+        OUTPUT_DIR=images/$(date -I)
+        echo "Figure will be created in $OUTPUT_DIR"
+        SHA=${{ github.sha }}
+        OUTPUT_FILE=$OUTPUT_DIR/$SCHEDULER-$FEATURE_BRANCH-${{ inputs.id }}-${SHA:0:7}.png
+        echo "Figure will be named $OUTPUT_FILE"
+        mkdir -p ${{ inputs.repo-for-saving-data }}/$OUTPUT_DIR
+        cd ${{ inputs.repo-for-saving-data }}
+        ../runner/make-graphics.py ${{ inputs.csv-files }} $OUTPUT_FILE
+        cd ..
+        echo "::set-output name=output-file::$OUTPUT_FILE"
+      shell: bash
+      id: figure
+
+    - name: Commit figure and output files
+      run: |
+        cd ${{ inputs.repo-for-saving-data }}
+        git config --global user.email "41898282+github-actions[bot]@users.noreply.github.com"
+        git config --global user.name "github-actions[bot]"
+        git fetch
+        git add -f ${{ inputs.csv-files }} ${{ steps.figure.outputs.output-file }}
+        if [[ $(git status) != *"nothing to commit"* ]]; then
+          git commit -m "benchmark ${{ github.sha }}"
+          git push https://token:${{ inputs.token }}@github.com/lf-lang/${{ inputs.repo-for-saving-data }}.git
+        fi
+        cd ..
+      shell: bash
+
+    - name: Compute error messages
+      id: compute-error-messages
+      run: |
+        echo $(ls)
+        if [ -f errors.txt ]; then
+          ERROR_MESSAGES="The benchmark runner reported the following errors:"$'\n'"$(cat errors.txt)"
+          echo "$ERROR_MESSAGES"
+          echo 'ERROR_MESSAGES<<EOF' >> $GITHUB_ENV
+          echo "$ERROR_MESSAGES" >> $GITHUB_ENV
+          echo 'EOF' >> $GITHUB_ENV
+        fi
+      shell: bash
+
+    - name: Comment PR
+      uses: thollander/actions-comment-pull-request@v1
+      with:
+        message: |
+          Running benchmarks from commit ${{ github.sha }}...
+          ${{ env.ERROR_MESSAGES }}
+
+          Results so far:
+
+          ![Visualization of the benchmark results.](https://raw.githubusercontent.com/lf-lang/${{ inputs.repo-for-saving-data }}/saved-benchmark-results/${{ steps.figure.outputs.output-file }})
+        comment_includes: ${{ github.sha }}
+        pr_number: ${{ env.PR_NUMBER }}
+        GITHUB_TOKEN: ${{ inputs.token }}
+      if: ${{ inputs.finalize == 'false' }}
+
+    - name: Finalize Comment
+      uses: thollander/actions-comment-pull-request@v1
+      with:
+        message: |
+          :heavy_check_mark: Finished running benchmarks from ${{ github.sha }}.
+          ${{ env.ERROR_MESSAGES }}
+
+          ![Visualization of the benchmark results.](https://raw.githubusercontent.com/lf-lang/${{ inputs.repo-for-saving-data }}/saved-benchmark-results/${{ steps.figure.outputs.output-file }})
+        comment_includes: ${{ github.sha }}
+        pr_number: ${{ env.PR_NUMBER }}
+        GITHUB_TOKEN: ${{ inputs.token }}
+      if: ${{ inputs.finalize == 'true' }}
diff --git a/.github/workflows/continuous-benchmark.yml b/.github/workflows/continuous-benchmark.yml
new file mode 100644
index 000000000..997d8e595
--- /dev/null
+++ b/.github/workflows/continuous-benchmark.yml
@@ -0,0 +1,77 @@
+name: Continuous Benchmarking
+
+
+on:
+  push:
+    branches: [continuous-benchmarking] #FIXME: delete this line before merge
+  pull_request:
+  workflow_dispatch:
+
+
+permissions:
+  contents: write
+  deployments: write
+
+
+jobs:
+  benchmark:
+    name: Run C Benchmarks
+    runs-on: ubuntu-latest #FIXME: change to self-hosted after russel is set up.
+
+    steps:
+      - name: Checkout benchmark repository
+        uses: actions/checkout@v2
+        with:
+          repository: lf-lang/benchmarks-lingua-franca
+          ref: automated-full-benchmark # FIXME: delete this line before merge
+
+      - name: Set up workspace
+        uses: lf-lang/reactor-c/.github/actions/set-up-workspace@automated-full-benchmark
+
+      - name: Update LFC
+        run: |
+          cd lf
+          ./gradlew buildLfc
+          cd ..
+        shell: bash
+
+      - name: Run C Benchmarks (multithreaded)
+        run: |
+          python3 runner/run_benchmark.py -m continue_on_error=True iterations=12 \
+            benchmark="glob(*)" target=lf-c problem_size=small \
+            target.params.scheduler=GEDF_NP,NP,adaptive threads=0
+
+      - name: Collect results
+        run: python3 runner/collect_results.py continuous-benchmarking-results-multi-threaded.json
+
+      - name: Store Benchmark Result
+        uses: benchmark-action/github-action-benchmark@v1
+        with:
+          name: Lingua Franca C Benchmark -- Multithreaded
+          tool: customSmallerIsBetter
+          output-file-path: continuous-benchmarking-results-multi-threaded.json
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          auto-push: true
+          alert-threshold: '200%' # FIXME: After russel is set up, lower the threshold
+          comment-on-alert: true
+          fail-on-alert: false
+
+      - name: Run C Benchmarks (unthreaded)
+        run: |
+          python3 runner/run_benchmark.py -m continue_on_error=True iterations=12 problem_size=small \
+            benchmark="glob(*)" target=lf-c-unthreaded
+
+      - name: Collect results
+        run: python3 runner/collect_results.py continuous-benchmarking-results-single-threaded.json
+
+      - name: Store Benchmark Result
+        uses: benchmark-action/github-action-benchmark@v1
+        with:
+          name: Lingua Franca C Benchmark -- Single-Threaded
+          tool: customSmallerIsBetter
+          output-file-path: continuous-benchmarking-results-single-threaded.json
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          auto-push: true
+          alert-threshold: '200%' # FIXME: After russel is set up, lower the threshold
+          comment-on-alert: true
+          fail-on-alert: false
diff --git a/.github/workflows/user-requested-benchmark.yml b/.github/workflows/user-requested-benchmark.yml
new file mode 100644
index 000000000..976f31944
--- /dev/null
+++ b/.github/workflows/user-requested-benchmark.yml
@@ -0,0 +1,87 @@
+name: User-requested benchmarks
+
+on:
+  issue_comment:
+    types: [created]
+  push:  # TODO: Remove this when this is in the default branch.
+  workflow_dispatch:
+
+env:  # TODO: Do not hard-code these!
+  PR_NUMBER: 91
+  SCHEDULER: NP
+  FEATURE_BRANCH: automated-full-benchmark
+
+permissions:
+  contents: write
+  pull-requests: write
+
+jobs:
+  run_benchmarks:
+    runs-on: ubuntu-latest
+    name: Post benchmark results in a PR.
+    steps:
+      - name: Checkout benchmark repository
+        uses: actions/checkout@v2
+        with:
+          repository: lf-lang/benchmarks-lingua-franca
+          token: ${{ secrets.GITHUB_TOKEN }}
+          fetch-depth: 1
+          ref: automated-full-benchmark  # FIXME: delete this line after merge
+
+      - name: Checkout benchmarks-lingua-franca
+        uses: actions/checkout@v2
+        with:
+          repository: lf-lang/benchmarks-lingua-franca
+          token: ${{ secrets.PAT_FOR_PUSHING_BENCHMARK_RESULTS }}
+          fetch-depth: 0  # It will be necessary to push to this repo
+          ref: saved-benchmark-results
+          path: benchmarks-lingua-franca
+
+      - name: Set up workspace
+        uses: lf-lang/reactor-c/.github/actions/set-up-workspace@automated-full-benchmark
+
+      - name: Run Benchmarks Part 1
+        id: run-benchmarks-1
+        uses: lf-lang/reactor-c/.github/actions/run-benchmarks-all-runtime-versions@automated-full-benchmark
+        with:
+          scheduler: ${{ env.SCHEDULER }}
+          feature-branch: ${{ env.FEATURE_BRANCH }}
+          num-workers: 1,12
+
+      - name: Visualize, Save, and Upload
+        uses: lf-lang/reactor-c/.github/actions/visualize-save-upload@automated-full-benchmark
+        with:
+          csv-files: ${{ steps.run-benchmarks-1.outputs.output-files }}
+          token: ${{ secrets.PAT_FOR_PUSHING_BENCHMARK_RESULTS }}
+          id: 1
+
+      - name: Run Benchmarks Part 2
+        id: run-benchmarks-2
+        uses: lf-lang/reactor-c/.github/actions/run-benchmarks-all-runtime-versions@automated-full-benchmark
+        with:
+          scheduler: ${{ env.SCHEDULER }}
+          feature-branch: ${{ env.FEATURE_BRANCH }}
+          num-workers: 3,6,24
+
+      - name: Visualize, Save, and Upload
+        uses: lf-lang/reactor-c/.github/actions/visualize-save-upload@automated-full-benchmark
+        with:
+          csv-files: "${{ steps.run-benchmarks-1.outputs.output-files }} ${{ steps.run-benchmarks-2.outputs.output-files }}"
+          token: ${{ secrets.PAT_FOR_PUSHING_BENCHMARK_RESULTS }}
+          id: 2
+
+      - name: Run Benchmarks Part 3
+        id: run-benchmarks-3
+        uses: lf-lang/reactor-c/.github/actions/run-benchmarks-all-runtime-versions@automated-full-benchmark
+        with:
+          scheduler: ${{ env.SCHEDULER }}
+          feature-branch: ${{ env.FEATURE_BRANCH }}
+          num-workers: 2,4,9,18
+
+      - name: Visualize, Save, and Upload
+        uses: lf-lang/reactor-c/.github/actions/visualize-save-upload@automated-full-benchmark
+        with:
+          csv-files: "${{ steps.run-benchmarks-1.outputs.output-files }} ${{ steps.run-benchmarks-2.outputs.output-files }} ${{ steps.run-benchmarks-3.outputs.output-files }}"
+          token: ${{ secrets.PAT_FOR_PUSHING_BENCHMARK_RESULTS }}
+          id: 3
+          finalize: true