diff --git a/.github/workflows/benchmark.yml b/.github/workflows/benchmark.yml
new file mode 100644
index 000000000..bdf585b9f
--- /dev/null
+++ b/.github/workflows/benchmark.yml
@@ -0,0 +1,166 @@
+# name of the workflow, what it is doing (optional)
+name: Benchmark
+
+# events that trigger the workflow (required)
+on:
+  push:
+    # pushes to the following branches
+    branches:
+      - main
+  pull_request:
+    # pull request where master is target
+    branches:
+      - main
+  workflow_dispatch:  # Add this line to allow manual triggering
+
+
+jobs:
+
+  generate-detections-embeddings:
+    runs-on: ubuntu-latest
+    timeout-minutes: 50
+    steps:
+      - uses: actions/checkout@v4
+      
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.9'
+          cache: 'pip'
+
+      - name: Install requirements
+        run: |
+          if [[ "$OSTYPE" == "darwin"* ]]; then
+            # macOS
+            sed -i '' 's/source="torch_cuda121"/source="torchcpu"/g' pyproject.toml
+          elif [[ "$OSTYPE" == "linux-gnu"* ]]; then
+            # Linux
+            sed -i 's/source="torch_cuda121"/source="torchcpu"/g' pyproject.toml
+          fi
+          sudo apt-get install -y jq
+          python -m pip install --upgrade pip setuptools wheel poetry
+          poetry config virtualenvs.create false
+          poetry lock --no-update
+          poetry install --with yolo
+
+      - name: Generate detections and embeddings
+        run: |
+          python tracking/val.py generate_dets_embs --source ./assets/MOT17-mini/train --yolo-model yolov10n.pt --reid-model osnet_x0_25_msmt17.pt --imgsz 320
+
+      - name: Upload Detections and Embeddings
+        uses: actions/upload-artifact@v3
+        with:
+          name: run-folder
+          path: runs/
+
+  mot-metrics-benchmark:
+    runs-on: ${{ matrix.os }}
+    needs: generate-detections-embeddings
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest]
+        python-version: ['3.9', '3.11']
+        tracker: ["ocsort", "bytetrack", "botsort", "hybridsort", "deepocsort", "imprassoc", "strongsort"]
+    timeout-minutes: 50
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+          cache: 'pip'
+
+      - name: Install requirements
+        run: |
+          if [[ "$OSTYPE" == "darwin"* ]]; then
+            # macOS
+            sed -i '' 's/source="torch_cuda121"/source="torchcpu"/g' pyproject.toml
+          elif [[ "$OSTYPE" == "linux-gnu"* ]]; then
+            # Linux
+            sed -i 's/source="torch_cuda121"/source="torchcpu"/g' pyproject.toml
+          fi
+          sudo apt-get install -y jq
+          python -m pip install --upgrade pip setuptools wheel poetry
+          poetry config virtualenvs.create false
+          poetry lock --no-update
+          poetry install --with yolo
+
+      - name: Download Detections and Embeddings
+        uses: actions/download-artifact@v3
+        with:
+          name: run-folder
+          path: runs/
+
+      - name: Evaluation and Summarize Results
+        run: |
+
+          if python3 tracking/val.py --benchmark MOT17-mini --yolo-model yolov8n.pt --reid-model osnet_x0_25_msmt17.pt --tracking-method ${{ matrix.tracker }} --verbose --source ./assets/MOT17-mini/train --ci; then
+            STATUS="✅"
+          else
+            STATUS="❌"
+          fi
+
+          if [ -f ${{ matrix.tracker }}_output.json ]; then
+            HOTA=$(jq -r '.HOTA' ${{ matrix.tracker }}_output.json)
+            MOTA=$(jq -r '.MOTA' ${{ matrix.tracker }}_output.json)
+            IDF1=$(jq -r '.IDF1' ${{ matrix.tracker }}_output.json)
+          else
+            HOTA=""
+            MOTA=""
+            IDF1=""
+          fi
+
+          mkdir results
+          TRACKER_NAME=$(echo ${{ matrix.tracker }} | awk '{print toupper(substr($0,1,1)) tolower(substr($0,2))}')
+          echo "$TRACKER_NAME,$STATUS,$HOTA,$MOTA,$IDF1" > results/${{ matrix.tracker }}.txt
+
+      - name: Show Results
+        run: cat results/${{ matrix.tracker }}.txt
+
+      - name: Upload Results
+        uses: actions/upload-artifact@v3
+        with:
+          name: results
+          path: results/${{ matrix.tracker }}.txt
+
+  combine-results:
+    runs-on: ubuntu-latest
+    needs: mot-metrics-benchmark
+    steps:
+      - name: Download all results
+        uses: actions/download-artifact@v3
+        with:
+          name: results
+          path: results
+
+      - name: Check downloaded files
+        run: |
+          echo "Downloaded files in the results directory:"
+          ls -la results/
+
+      - name: Combine results
+        run: |
+          echo "Format,Status❔,HOTA,MOTA,IDF1" > combined_results.csv
+          for file in results/*; do
+            if [ -f "$file" ]; then
+              cat "$file" >> combined_results.csv  # Use cat instead of tail to include all lines
+            fi
+          done
+
+          # Sort the results by HOTA in descending order
+          (head -n 1 combined_results.csv && tail -n +2 combined_results.csv | sort -t, -k3 -nr) > sorted_results.csv
+
+          # Create a pretty table from the sorted_results.csv file
+          column -s, -t sorted_results.csv > pretty_results.txt
+
+      - name: Show Combined Results
+        run: cat pretty_results.txt
+
+      - name: Upload Combined Results
+        uses: actions/upload-artifact@v3
+        with:
+          name: sorted-combined-results
+          path: pretty_results.txt
diff --git a/poetry.lock b/poetry.lock
index 1e3bbc1d0..d9a053609 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -402,19 +402,19 @@ test = ["pytest (>=6)"]
 
 [[package]]
 name = "filelock"
-version = "3.15.4"
+version = "3.16.0"
 description = "A platform independent file lock."
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "filelock-3.15.4-py3-none-any.whl", hash = "sha256:6ca1fffae96225dab4c6eaf1c4f4f28cd2568d3ec2a44e15a08520504de468e7"},
-    {file = "filelock-3.15.4.tar.gz", hash = "sha256:2207938cbc1844345cb01a5a95524dae30f0ce089eba5b00378295a17e3e90cb"},
+    {file = "filelock-3.16.0-py3-none-any.whl", hash = "sha256:f6ed4c963184f4c84dd5557ce8fece759a3724b37b80c6c4f20a2f63a4dc6609"},
+    {file = "filelock-3.16.0.tar.gz", hash = "sha256:81de9eb8453c769b63369f87f11131a7ab04e367f8d97ad39dc230daa07e3bec"},
 ]
 
 [package.extras]
-docs = ["furo (>=2023.9.10)", "sphinx (>=7.2.6)", "sphinx-autodoc-typehints (>=1.25.2)"]
-testing = ["covdefaults (>=2.3)", "coverage (>=7.3.2)", "diff-cover (>=8.0.1)", "pytest (>=7.4.3)", "pytest-asyncio (>=0.21)", "pytest-cov (>=4.1)", "pytest-mock (>=3.12)", "pytest-timeout (>=2.2)", "virtualenv (>=20.26.2)"]
-typing = ["typing-extensions (>=4.8)"]
+docs = ["furo (>=2024.8.6)", "sphinx (>=8.0.2)", "sphinx-autodoc-typehints (>=2.4)"]
+testing = ["covdefaults (>=2.3)", "coverage (>=7.6.1)", "diff-cover (>=9.1.1)", "pytest (>=8.3.2)", "pytest-asyncio (>=0.24)", "pytest-cov (>=5)", "pytest-mock (>=3.14)", "pytest-timeout (>=2.3.1)", "virtualenv (>=20.26.3)"]
+typing = ["typing-extensions (>=4.12.2)"]
 
 [[package]]
 name = "filterpy"
@@ -689,24 +689,27 @@ test = ["coverage[toml]", "ddt (>=1.1.1,!=1.4.3)", "mock", "mypy", "pre-commit",
 
 [[package]]
 name = "idna"
-version = "3.8"
+version = "3.10"
 description = "Internationalized Domain Names in Applications (IDNA)"
 optional = false
 python-versions = ">=3.6"
 files = [
-    {file = "idna-3.8-py3-none-any.whl", hash = "sha256:050b4e5baadcd44d760cedbd2b8e639f2ff89bbc7a5730fcc662954303377aac"},
-    {file = "idna-3.8.tar.gz", hash = "sha256:d838c2c0ed6fced7693d5e8ab8e734d5f8fda53a039c0164afb0b82e771e3603"},
+    {file = "idna-3.10-py3-none-any.whl", hash = "sha256:946d195a0d259cbba61165e88e65941f16e9b36ea6ddb97f00452bae8b1287d3"},
+    {file = "idna-3.10.tar.gz", hash = "sha256:12f65c9b470abda6dc35cf8e63cc574b1c52b11df2c86030af0ac09b01b13ea9"},
 ]
 
+[package.extras]
+all = ["flake8 (>=7.1.1)", "mypy (>=1.11.2)", "pytest (>=8.3.2)", "ruff (>=0.6.2)"]
+
 [[package]]
 name = "importlib-resources"
-version = "6.4.4"
+version = "6.4.5"
 description = "Read resources from Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "importlib_resources-6.4.4-py3-none-any.whl", hash = "sha256:dda242603d1c9cd836c3368b1174ed74cb4049ecd209e7a1a0104620c18c5c11"},
-    {file = "importlib_resources-6.4.4.tar.gz", hash = "sha256:20600c8b7361938dc0bb2d5ec0297802e575df486f5a544fa414da65e13721f7"},
+    {file = "importlib_resources-6.4.5-py3-none-any.whl", hash = "sha256:ac29d5f956f01d5e4bb63102a5a19957f1b9175e45649977264a1416783bb717"},
+    {file = "importlib_resources-6.4.5.tar.gz", hash = "sha256:980862a1d16c9e147a59603677fa2aa5fd82b87f223b6cb870695bcfce830065"},
 ]
 
 [package.dependencies]
@@ -1202,67 +1205,75 @@ tests = ["pytest (>=4.6)"]
 
 [[package]]
 name = "msgpack"
-version = "1.0.8"
+version = "1.1.0"
 description = "MessagePack serializer"
 optional = false
 python-versions = ">=3.8"
 files = [
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 [[package]]
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 [[package]]
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+version = "2024.2"
 description = "World timezone definitions, modern and historical"
 optional = false
 python-versions = "*"
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 [[package]]
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 ]
 
 [package.dependencies]
@@ -2151,9 +2162,9 @@ requests = "*"
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 air = ["aiohttp (>=3.7)", "aiohttp-cors", "colorful", "fastapi", "fsspec", "grpcio (>=1.32.0)", "grpcio (>=1.42.0)", "memray", "numpy (>=1.20)", "opencensus", "pandas", "pandas (>=1.3)", "prometheus-client (>=0.7.1)", "py-spy (>=0.2.0)", "pyarrow (>=6.0.1)", "pydantic (<2.0.dev0 || >=2.5.dev0,<3)", "requests", "smart-open", "starlette", "tensorboardX (>=1.9)", "uvicorn[standard]", "virtualenv (>=20.0.24,!=20.21.1)", "watchfiles"]
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 client = ["grpcio (!=1.56.0)"]
-cpp = ["ray-cpp (==2.35.0)"]
+cpp = ["ray-cpp (==2.36.0)"]
 data = ["fsspec", "numpy (>=1.20)", "pandas (>=1.3)", "pyarrow (>=6.0.1)"]
 default = ["aiohttp (>=3.7)", "aiohttp-cors", "colorful", "grpcio (>=1.32.0)", "grpcio (>=1.42.0)", "memray", "opencensus", "prometheus-client (>=0.7.1)", "py-spy (>=0.2.0)", "pydantic (<2.0.dev0 || >=2.5.dev0,<3)", "requests", "smart-open", "virtualenv (>=20.0.24,!=20.21.1)"]
 observability = ["opentelemetry-api", "opentelemetry-exporter-otlp", "opentelemetry-sdk"]
@@ -2305,13 +2316,13 @@ use-chardet-on-py3 = ["chardet (>=3.0.2,<6)"]
 
 [[package]]
 name = "rich"
-version = "13.8.0"
+version = "13.8.1"
 description = "Render rich text, tables, progress bars, syntax highlighting, markdown and more to the terminal"
 optional = false
 python-versions = ">=3.7.0"
 files = [
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 ]
 
 [package.dependencies]
@@ -2543,18 +2554,18 @@ stats = ["scipy (>=1.7)", "statsmodels (>=0.12)"]
 
 [[package]]
 name = "setuptools"
-version = "74.1.2"
+version = "75.1.0"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
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 [package.extras]
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 enabler = ["pytest-enabler (>=2.2)"]
@@ -3063,13 +3074,13 @@ torch = "*"
 
 [[package]]
 name = "urllib3"
-version = "2.2.2"
+version = "2.2.3"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.extras]
@@ -3120,13 +3131,13 @@ PyYAML = "*"
 
 [[package]]
 name = "zipp"
-version = "3.20.1"
+version = "3.20.2"
 description = "Backport of pathlib-compatible object wrapper for zip files"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.extras]