diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 044db8e..0839fc4 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -122,17 +122,55 @@ jobs:
             echo "$WORKSPACE_ARTIFACT_PATH/lib" >> $GITHUB_PATH
             echo "$WORKSPACE_ARTIFACT_PATH/bin" >> $GITHUB_PATH
             echo "$SOFA_ROOT/plugins/SofaPython3/bin" >> $GITHUB_PATH
-            echo "SOFA_PLUGIN_PATH=$WORKSPACE_ARTIFACT_PATH/bin" | tee -a $GITHUB_ENV
+            echo "SOFA_PLUGIN_PATH=$WORKSPACE_ARTIFACT_PATH/bin;$GITHUB_WORKSPACE/deps/CollisionAlgorithm/install/bin" | tee -a $GITHUB_ENV
           else
-            echo "SOFA_PLUGIN_PATH=$WORKSPACE_ARTIFACT_PATH/lib" | tee -a $GITHUB_ENV
+            echo "SOFA_PLUGIN_PATH=$WORKSPACE_ARTIFACT_PATH/lib:$GITHUB_WORKSPACE/deps/CollisionAlgorithm/install/lib" | tee -a $GITHUB_ENV
           fi
 
           if [[ "$RUNNER_OS" == "macOS" ]]; then
-            echo "DYLD_LIBRARY_PATH=$WORKSPACE_ARTIFACT_PATH/lib:$SOFA_ROOT/lib:$SOFA_ROOT/plugins/SofaPython3/lib:$DYLD_LIBRARY_PATH" | tee -a $GITHUB_ENV
+            echo "DYLD_LIBRARY_PATH=$WORKSPACE_ARTIFACT_PATH/lib:$SOFA_ROOT/lib:$GITHUB_WORKSPACE/deps/CollisionAlgorithm/install/lib:$SOFA_ROOT/plugins/SofaPython3/lib:$DYLD_LIBRARY_PATH" | tee -a $GITHUB_ENV
           fi
 
           if [[ "$RUNNER_OS" == "Linux" ]]; then
-            echo "LD_LIBRARY_PATH=$WORKSPACE_ARTIFACT_PATH/lib:$SOFA_ROOT/lib:$SOFA_ROOT/plugins/SofaPython3/lib:$LD_LIBRARY_PATH" | tee -a $GITHUB_ENV
+            echo "LD_LIBRARY_PATH=$WORKSPACE_ARTIFACT_PATH/lib:$SOFA_ROOT/lib:$GITHUB_WORKSPACE/deps/CollisionAlgorithm/install/lib:$SOFA_ROOT/plugins/SofaPython3/lib:$LD_LIBRARY_PATH" | tee -a $GITHUB_ENV
+          fi
+          ls -R $GITHUB_WORKSPACE/deps/CollisionAlgorithm/
+
+      # - name: Check environment for tests
+      #   shell: bash
+      #   run: |
+      #     echo '------ ls -la "$WORKSPACE_SRC_PATH" ------'
+      #     ls -la "$WORKSPACE_SRC_PATH"
+      #     echo '------ ls -la "$WORKSPACE_BUILD_PATH" ------'
+      #     ls -la "$WORKSPACE_BUILD_PATH"
+      #     echo '------ ls -la "$WORKSPACE_INSTALL_PATH" ------'
+      #     ls -la "$WORKSPACE_INSTALL_PATH"
+      #     echo '------ ls -la "$WORKSPACE_ARTIFACT_PATH" ------'
+      #     ls -la "$WORKSPACE_ARTIFACT_PATH"
+      #     echo '----------------------'
+      #     echo "SOFA_ROOT = $SOFA_ROOT"
+
+      - name: Fetch, install and run Regression_test
+        id: regression-test
+        if: always()
+        shell: bash
+        run: |
+          if [[ "$RUNNER_OS" != "macOS" ]]; then
+            # Get regression from github releases
+            mkdir -p "${{ runner.temp }}/regression_tmp/install"
+            curl --output "${{ runner.temp }}/regression_tmp/${RUNNER_OS}.zip" -L https://github.com/sofa-framework/regression/releases/download/release-master/Regression_test_master_for-SOFA-${{ steps.sofa.outputs.sofa_version }}_${RUNNER_OS}.zip
+            unzip -qq "${{ runner.temp }}/regression_tmp/${RUNNER_OS}.zip" -d "${{ runner.temp }}/regression_tmp/install"
+            # Install it in the SOFA bin directory
+            $SUDO mv "${{ runner.temp }}"/regression_tmp/install/Regression_*/bin/* "${SOFA_ROOT}/bin"
+            chmod +x ${SOFA_ROOT}/bin/Regression_test${{ steps.sofa.outputs.exe }}
+            # Setup mandatory env vars
+            export REGRESSION_SCENES_DIR="${GITHUB_WORKSPACE}/deps/CollisionAlgorithm/scenes"
+            export REGRESSION_REFERENCES_DIR="${GITHUB_WORKSPACE}/deps/CollisionAlgorithm/regression/references"
+            export PYTHONPATH=$SOFA_ROOT/plugins/SofaPython3/lib/python3/site-packages
+            # Run regression test bench
+            ${SOFA_ROOT}/bin/Regression_test${{ steps.sofa.outputs.exe }}
+          else
+            echo "Regression tests are not supported on the CI for macOS yet (TODO)"
           fi
 
   deploy: