diff --git a/.github/workflows/aas-amd64-main.yml b/.github/workflows/aas-amd64-main.yml
new file mode 100644
index 00000000..48f497b7
--- /dev/null
+++ b/.github/workflows/aas-amd64-main.yml
@@ -0,0 +1,137 @@
+name: aas ci/cd main
+
+on:
+  schedule:
+    - cron: '0 3 * * 6'
+  workflow_dispatch: {}
+  pull_request:
+    branches: [ "main" ]
+
+permissions:
+  contents: read
+  packages: write
+
+jobs:
+  build-aircraft:
+    uses: ./.github/workflows/aircraft-amd64-build.yml
+
+  build-ground:
+    uses: ./.github/workflows/ground-amd64-build.yml
+
+  build-simulation:
+    uses: ./.github/workflows/simulation-amd64-build.yml
+
+  integration-test:
+    runs-on: ubuntu-22.04
+    needs: [build-aircraft, build-ground, build-simulation]
+    timeout-minutes: 150
+    permissions:
+      contents: read
+      packages: read
+    defaults:
+      run:
+        shell: bash -el {0}
+
+    steps:
+      - name: Free disk space
+        run: |
+          sudo rm -rf /usr/share/dotnet &
+          sudo rm -rf /usr/local/lib/android &
+          sudo rm -rf /opt/ghc &
+          sudo rm -rf /opt/hostedtoolcache/CodeQL &
+          sudo rm -rf /usr/local/share/boost &
+          sudo rm -rf /usr/share/swift &
+          sudo rm -rf "$AGENT_TOOLSDIRECTORY" &
+          wait
+          sudo docker image prune --all --force
+          sudo apt-get clean
+          sudo rm -rf /var/lib/apt/lists/*
+
+      - name: Add swap space
+        run: |
+          sudo swapoff -a || true
+          sudo rm -f /swapfile
+          sudo fallocate -l 10G /swapfile
+          sudo chmod 600 /swapfile
+          sudo mkswap /swapfile
+          sudo swapon /swapfile
+
+      - name: Check swap
+        run: |
+          free -h
+          sudo swapon --show
+          
+      - name: Check disk space
+        run: df -h
+
+      - name: Checkout the repository
+        uses: actions/checkout@v4
+
+      - name: Log in to GitHub Container Registry
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Determine Docker tag
+        env:
+          EVENT_NAME: ${{ github.event_name }}
+          EVENT_NUMBER: ${{ github.event.number }}
+          REF_NAME: ${{ github.ref_name }}
+          REF: ${{ github.ref }}
+        run: |
+          if [ "$EVENT_NAME" == "pull_request" ]; then
+            echo "DOCKER_TAG=pr-${EVENT_NUMBER}" >> $GITHUB_ENV
+          elif [ "$REF" == "refs/heads/main" ]; then
+            echo "DOCKER_TAG=latest" >> $GITHUB_ENV
+          else
+            BRANCH_TAG=$(echo "$REF_NAME" | tr '/' '-')
+            echo "DOCKER_TAG=${BRANCH_TAG}" >> $GITHUB_ENV
+          fi
+
+      - name: Pull and re-tag images
+        run: |
+          echo "Pulling images with tag: ${{ env.DOCKER_TAG }}"
+          docker pull ghcr.io/jacopopan/aircraft-image:${{ env.DOCKER_TAG }}
+          docker pull ghcr.io/jacopopan/ground-image:${{ env.DOCKER_TAG }}
+          docker pull ghcr.io/jacopopan/simulation-image:${{ env.DOCKER_TAG }}
+          echo "Locally retagging the images as latest for aas_env.py"
+          docker tag ghcr.io/jacopopan/aircraft-image:${{ env.DOCKER_TAG }} aircraft-image:latest
+          docker tag ghcr.io/jacopopan/ground-image:${{ env.DOCKER_TAG }} ground-image:latest
+          docker tag ghcr.io/jacopopan/simulation-image:${{ env.DOCKER_TAG }} simulation-image:latest
+          docker images | grep latest
+
+      - name: Set up Conda with Python 3.13
+        uses: conda-incubator/setup-miniconda@v3
+        with:
+          activate-environment: aas
+          python-version: 3.13
+          auto-activate: true
+          use-only-tar-bz2: true 
+
+      - name: Remove GPU requests
+        run: |
+          sed -i 's/devices=device_binds,/devices=[],/' ./aas-gym/src/aas_gym/aas_env.py          
+          sed -i 's/device_requests=gpu_requests,/device_requests=[],/' ./aas-gym/src/aas_gym/aas_env.py
+
+      - name: Install aas-gym package
+        run: |
+          cd ./aas-gym/          
+          pip install -e .
+
+      - name: Run aas-gym test 1
+        run: |
+          python3 ./scripts/gym_run.py --mode speedup --num_quads 1 --no-camera --no-lidar --autopilot px4
+
+      - name: Safety cleanup between tests
+        if: always()
+        run: |
+          docker kill $(docker ps -q) || true
+          docker rm $(docker ps -a -q) || true
+          docker network prune -f
+          sleep 10 
+
+      - name: Run aas-gym test 2
+        run: |
+          python3 ./scripts/gym_run.py --mode speedup --num_quads 1 --no-camera --no-lidar --autopilot ardupilot
diff --git a/.github/workflows/aas-gym-pip-install.yml b/.github/workflows/aas-gym-pip-install.yml
index 762f604c..20ce89af 100644
--- a/.github/workflows/aas-gym-pip-install.yml
+++ b/.github/workflows/aas-gym-pip-install.yml
@@ -43,7 +43,7 @@ jobs:
         with:
           activate-environment: aas
           python-version: 3.13
-          auto-activate-base: false
+          auto-activate: true
           use-only-tar-bz2: true 
 
       - name: Install aas-gym package
diff --git a/.github/workflows/aircraft-amd64-build.yml b/.github/workflows/aircraft-amd64-build.yml
index 95e3b477..e9935016 100644
--- a/.github/workflows/aircraft-amd64-build.yml
+++ b/.github/workflows/aircraft-amd64-build.yml
@@ -1,11 +1,7 @@
 name: aircraft-image amd64
 
 on:
-  schedule:
-    - cron: '0 3 * * 6'
-  workflow_dispatch: {}
-  pull_request:
-    branches: [ "main" ]
+  workflow_call: {}
 
 jobs:
   build:
@@ -63,5 +59,21 @@ jobs:
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
 
-      - name: Build the aircraft image (optionally, add --push)
-        run: docker buildx build -t ghcr.io/jacopopan/aircraft-image:latest -f ./scripts/docker/Dockerfile.aircraft .
+      - name: Determine Docker tag
+        env:
+          EVENT_NAME: ${{ github.event_name }}
+          EVENT_NUMBER: ${{ github.event.number }}
+          REF_NAME: ${{ github.ref_name }}
+          REF: ${{ github.ref }}
+        run: |
+          if [ "$EVENT_NAME" == "pull_request" ]; then
+            echo "DOCKER_TAG=pr-${EVENT_NUMBER}" >> $GITHUB_ENV
+          elif [ "$REF" == "refs/heads/main" ]; then
+            echo "DOCKER_TAG=latest" >> $GITHUB_ENV
+          else
+            BRANCH_TAG=$(echo "$REF_NAME" | tr '/' '-')
+            echo "DOCKER_TAG=${BRANCH_TAG}" >> $GITHUB_ENV
+          fi
+
+      - name: Build the aircraft
+        run: docker buildx build --push -t ghcr.io/jacopopan/aircraft-image:${{ env.DOCKER_TAG }} -f ./scripts/docker/Dockerfile.aircraft .
diff --git a/.github/workflows/cleanup-packages.yml b/.github/workflows/cleanup-packages.yml
new file mode 100644
index 00000000..1d3a008d
--- /dev/null
+++ b/.github/workflows/cleanup-packages.yml
@@ -0,0 +1,26 @@
+name: cleanup packages
+
+on:
+  schedule:
+    - cron: '0 3 * * 0'
+  workflow_dispatch: {}
+
+jobs:
+  delete-old-versions:
+    runs-on: ubuntu-22.04
+    permissions:
+      packages: write
+
+    steps:
+      - name: Prune images older than 10 days (except latest)
+        uses: snok/container-retention-policy@v3.0.0
+        with:
+          image-names: |
+            aircraft-image
+            ground-image
+            simulation-image
+          cut-off: 10d
+          skip-tags: latest
+          keep-at-least: 1
+          account-type: personal
+          token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/ground-amd64-build.yml b/.github/workflows/ground-amd64-build.yml
index 950c280e..2b55c0b1 100644
--- a/.github/workflows/ground-amd64-build.yml
+++ b/.github/workflows/ground-amd64-build.yml
@@ -1,11 +1,7 @@
 name: ground-image amd64
 
 on:
-  schedule:
-    - cron: '0 3 * * 6'
-  workflow_dispatch: {}
-  pull_request:
-    branches: [ "main" ]
+  workflow_call: {}
 
 jobs:
   build:
@@ -63,5 +59,21 @@ jobs:
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
 
-      - name: Build the ground image (optionally, add --push)
-        run: docker buildx build -t ghcr.io/jacopopan/ground-image:latest -f ./scripts/docker/Dockerfile.ground .
+      - name: Determine Docker tag
+        env:
+          EVENT_NAME: ${{ github.event_name }}
+          EVENT_NUMBER: ${{ github.event.number }}
+          REF_NAME: ${{ github.ref_name }}
+          REF: ${{ github.ref }}
+        run: |
+          if [ "$EVENT_NAME" == "pull_request" ]; then
+            echo "DOCKER_TAG=pr-${EVENT_NUMBER}" >> $GITHUB_ENV
+          elif [ "$REF" == "refs/heads/main" ]; then
+            echo "DOCKER_TAG=latest" >> $GITHUB_ENV
+          else
+            BRANCH_TAG=$(echo "$REF_NAME" | tr '/' '-')
+            echo "DOCKER_TAG=${BRANCH_TAG}" >> $GITHUB_ENV
+          fi
+
+      - name: Build the ground image
+        run: docker buildx build --push -t ghcr.io/jacopopan/ground-image:${{ env.DOCKER_TAG }} -f ./scripts/docker/Dockerfile.ground .
diff --git a/.github/workflows/simulation-amd64-build.yml b/.github/workflows/simulation-amd64-build.yml
index 7acfe167..41f2eeec 100644
--- a/.github/workflows/simulation-amd64-build.yml
+++ b/.github/workflows/simulation-amd64-build.yml
@@ -1,11 +1,7 @@
 name: simulation-image amd64
 
 on:
-  schedule:
-    - cron: '0 3 * * 6'
-  workflow_dispatch: {}
-  pull_request:
-    branches: [ "main" ]
+  workflow_call: {}
 
 jobs:
   build:
@@ -63,5 +59,21 @@ jobs:
       - name: Set up Docker Buildx
         uses: docker/setup-buildx-action@v3
 
-      - name: Build the simulation image (optionally, add --push)
-        run: docker buildx build -t ghcr.io/jacopopan/simulation-image:latest -f ./scripts/docker/Dockerfile.simulation .
+      - name: Determine Docker tag
+        env:
+          EVENT_NAME: ${{ github.event_name }}
+          EVENT_NUMBER: ${{ github.event.number }}
+          REF_NAME: ${{ github.ref_name }}
+          REF: ${{ github.ref }}
+        run: |
+          if [ "$EVENT_NAME" == "pull_request" ]; then
+            echo "DOCKER_TAG=pr-${EVENT_NUMBER}" >> $GITHUB_ENV
+          elif [ "$REF" == "refs/heads/main" ]; then
+            echo "DOCKER_TAG=latest" >> $GITHUB_ENV
+          else
+            BRANCH_TAG=$(echo "$REF_NAME" | tr '/' '-')
+            echo "DOCKER_TAG=${BRANCH_TAG}" >> $GITHUB_ENV
+          fi
+
+      - name: Build the simulation image
+        run: docker buildx build --push -t ghcr.io/jacopopan/simulation-image:${{ env.DOCKER_TAG }} -f ./scripts/docker/Dockerfile.simulation .
diff --git a/README.md b/README.md
index 433e26e5..9033e6c5 100644
--- a/README.md
+++ b/README.md
@@ -195,6 +195,8 @@ cd aerial-autonomy-stack/scripts/
 
 ./sim_build.sh
 # Note: the 1st build takes ~30GB of space and ~25' with good internet (`Ctrl + c` and restart if needed)
+# Alternatively, pre-build images are available on ghcr.io:
+# docker pull ghcr.io/jacopopan/[aircraft|ground|simulation]-image:latest
 ```
 
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