diff --git a/.github/actions/publish/action.yml b/.github/actions/publish/action.yml
index d2c92014..24ad7624 100644
--- a/.github/actions/publish/action.yml
+++ b/.github/actions/publish/action.yml
@@ -11,7 +11,6 @@ inputs:
 runs:
   using: 'composite'
   steps:
-    - uses: actions/checkout@v3
     - uses: ./.github/actions/sierra-setup
     - name: Build package
       shell: bash
@@ -38,7 +37,7 @@ runs:
 
       uses: pypa/gh-action-pypi-publish@release/v1
       with:
-        skip_existing: true
+        skip-existing: true
         user: __token__
         password: ${{ inputs.testpypi-token }}
         repository_url: https://test.pypi.org/legacy/
diff --git a/.github/actions/sample-project-setup/action.yml b/.github/actions/sample-project-setup/action.yml
index 02dbaeef..552ca96c 100644
--- a/.github/actions/sample-project-setup/action.yml
+++ b/.github/actions/sample-project-setup/action.yml
@@ -7,18 +7,26 @@ inputs:
   rosdistro:
     description: 'The version of ROS to test with'
     default: 'noetic'
-# outputs:
-#   time: # id of output
-#     description: 'The time we greeted you'
+
 runs:
   using: 'composite'
   steps:
+    ############################################################################
+    # Common setup
+    ############################################################################
+    - name: Setup python (all OSes)
+      uses: actions/setup-python@v5
+      with:
+        python-version: ${{ matrix.python-version }}
+        cache: 'pip'
+
     - name: Clone sample project
       shell: bash
-      working-directory: ../../
+      working-directory: ${{ github.workspace }} # Needed to match with scripts/argos-integration-tests.sh
+
       run: |
         if [ ! -d sierra-sample-project ]; then
-        git clone https://github.com/swarm-robotics/sierra-sample-project.git
+        git clone https://github.com/jharwell/sierra-sample-project.git
         cd sierra-sample-project
         else
         cd sierra-sample-project
@@ -30,46 +38,73 @@ runs:
       uses: SimenB/github-actions-cpu-cores@v1
       id: cpu-cores
 
+    - uses: kenchan0130/actions-system-info@master
+      id: system-info
+
+    - name: Cache build files
+      uses: hendrikmuhs/ccache-action@v1.2
+      with:
+        key: ${{ runner.os }}-${{ steps.system-info.outputs.release }}-build-objects
+        verbose: 0
+
     ############################################################################
     # ARGoS setup
     ############################################################################
-    - name: Install ARGoS dependencies
-      shell: bash
-      working-directory: ../../
-      run: |
-        # 2023/01/16: || true needed because homebrew installation of whatever
-        # dependencies these packages requires manual intervention to fix, and I
-        # don't have a mac.
-        if [ "${{ runner.os }}" == "macOS" ]; then
-          brew install pkg-config cmake libpng freeimage lua qt \
-          docbook asciidoc graphviz doxygen|| true
-        elif [ "${{ runner.os }}" == "Linux" ]; then
-          sudo apt-get update
-          sudo apt-get install cmake libfreeimage-dev libfreeimageplus-dev \
-          qt5-default freeglut3-dev libxi-dev libxmu-dev liblua5.3-dev \
-          lua5.3 doxygen graphviz libgraphviz-dev asciidoc
-        fi
+    - uses: nick-fields/retry@v2
+      name: Install ARGoS deps (OSX)
+      if: runner.os == 'macOS'
+      with:
+        timeout_minutes: 10000
+        max_attempts: 3
+        shell: bash
+        command: |
+          # 2023/01/16: Caching doesn't work reliably, for reasons unknown :-(.
+          #
+          # The {xquartz, mactex, qt} deps are not required as long as the ARGoS
+          # integration tests for OSX don't run stage 4+ or try to do video
+          # capture. Installing them takes ~30 min in github actions, so cutting
+          # this particular corner saves a TON of time.
+          #
+          # Note that by omitting Xquartz you MUST also omit Qt, otherwise CI
+          # fails (I think ARGoS segfaults).
+          brew install pkg-config cmake libpng freeimage lua
+
+    - name: Install and cache ARGoS dependencies (Linux)
+      if: runner.os == 'Linux'
+      uses: awalsh128/cache-apt-pkgs-action@latest
+      with:
+        packages: libfreeimage-dev libfreeimageplus-dev qtbase5-dev freeglut3-dev libxi-dev libxmu-dev liblua5.3-dev lua5.3 libgraphviz-dev ccache
+        version: ${{ runner.os }}
 
     - name: Install ARGoS
       if: inputs.platform == 'argos'
       shell: bash
-      working-directory: ../../
       run: |
         git clone https://github.com/ilpincy/argos3.git
         cd argos3
+
         mkdir -p build && cd build
-        cmake -DARGOS_DOCUMENTATION=OFF ../src
+        cmake \
+          -DCMAKE_C_COMPILER_LAUNCHER=ccache \
+          -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
+          -DARGOS_DOCUMENTATION=OFF \
+          ../src
         make -j ${{ steps.cpu-cores.outputs.count }}
         sudo make install
 
     - name: Build SIERRA project for ARGoS
       if: inputs.platform == 'argos'
-      working-directory: ../../
       shell: bash
+      working-directory: ${{ github.workspace }} # Needed to match with scripts/argos-integration-tests.sh
+
       run: |
         cd sierra-sample-project/argos
         mkdir -p build && cd build
-        cmake -DARGOS_INSTALL_DIR=/usr/local ..
+        cmake \
+          -DCMAKE_C_COMPILER_LAUNCHER=ccache \
+          -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
+          -DARGOS_INSTALL_DIR=/usr/local \
+          ..
         make -j ${{ steps.cpu-cores.outputs.count }}
 
     ############################################################################
@@ -77,43 +112,48 @@ runs:
     ############################################################################
     - name: Install ROS1 platform dependency
       if: inputs.platform == 'ros1gazebo'
-      uses: ros-tooling/setup-ros@v0.3
+      uses: ros-tooling/setup-ros@v0.7
       with:
         required-ros-distributions: ${{ inputs.rosdistro }}
 
-    - name: Install SIERRA ROSbridge dependencies
+    - name: Install SIERRA ROSbridge system dependencies (Linux)
+      if: inputs.platform == 'ros1gazebo'
+      uses: awalsh128/cache-apt-pkgs-action@latest
+      with:
+        packages: ros-${{ inputs.rosdistro }}-desktop-full ros-${{ inputs.rosdistro }}-turtlebot3-description ros-${{ inputs.rosdistro }}-turtlebot3-msgs ros-${{ inputs.rosdistro }}-turtlebot3-gazebo ros-${{ inputs.rosdistro }}-turtlebot3-bringup python${{ matrix.python-version }} python${{ matrix.python-version }}-dev python${{ matrix.python-version }}-venv python3-apt python3-cairo intltool python3-wheel python3-rospkg python3-empy
+        version: ${{ runner.os }}
+
+    - name: Install SIERRA ROSbridge python dependencies (Linux)
       if: inputs.platform == 'ros1gazebo'
-      working-directory: ../..
       shell: bash
       run: |
-        sudo apt-get install ros-${{ inputs.rosdistro }}-desktop-full
-        sudo apt-get install ros-${{ inputs.rosdistro }}-turtlebot3-description
-        sudo apt-get install ros-${{ inputs.rosdistro }}-turtlebot3-msgs
-        sudo apt-get install ros-${{ inputs.rosdistro }}-turtlebot3-gazebo
-        sudo apt-get install ros-${{ inputs.rosdistro }}-turtlebot3-bringup
-        sudo apt-get install python${{ matrix.python-version }} python${{ matrix.python-version }}-dev
-        sudo apt-get install python${{ matrix.python-version }}-venv python3-apt
-        sudo apt-get install python3-pip python3-cairo intltool python3-wheel python3-rospkg python3-empy
-
         # 2023/1/18: You still need install these even after installing stuff
         # with apt AND if the sysem python matches your current python. I don't
         # know why.
-        pip3 install empy
-        pip3 install rospkg wheel pyparsing pyqt5
-        pip3 install  pyqt5 pysip numpy rospkg
-        pip3 install  matplotlib pyyaml psutil
-        pip3 install  pysip defusedxml pyparsing pydev
-        pip3 install  pyopengl opencv-python
+        pip3 install empy \
+                     rospkg \
+                     wheel \
+                     pyparsing \
+                     pyqt5 \
+                     pysip \
+                     numpy \
+                     matplotlib \
+                     pyyaml \
+                     psutil \
+                     defusedxml \
+                     pyparsing \
+                     pydev \
+                     pyopengl \
+                     opencv-python \
+                     catkin_tools
 
     - name: Install SIERRA ROSBridge dependency (ubuntu)
       if: inputs.platform == 'ros1gazebo'
-      working-directory: ../..
       shell: bash
       run: |
         source /opt/ros/${{ inputs.rosdistro }}/setup.bash
 
-        pip3 install catkin_tools
-        git clone https://github.com/swarm-robotics/sierra_rosbridge.git
+        git clone https://github.com/jharwell/sierra_rosbridge.git
         cd sierra_rosbridge
         git checkout devel
         catkin init
diff --git a/.github/actions/sierra-setup/action.yml b/.github/actions/sierra-setup/action.yml
index 616b178e..9db7c8dc 100644
--- a/.github/actions/sierra-setup/action.yml
+++ b/.github/actions/sierra-setup/action.yml
@@ -1,45 +1,53 @@
 name: 'Setup SIERRA'
 description: 'Setup SIERRA for CI and testing'
-# inputs:
-  # who-to-greet:  # id of input
-  #   description: 'Who to greet'
-  #   required: true
-  #   default: 'World'
-# outputs:
-#   time: # id of output
-#     description: 'The time we greeted you'
 runs:
   using: 'composite'
   steps:
 
+    ############################################################################
+    # Common setup
+    ############################################################################
+    - name: Setup python (all OSes)
+      uses: actions/setup-python@v5
+      with:
+        python-version: ${{ matrix.python-version }}
+        cache: 'pip'
+
+    - name: Install python packages (all OSes)
+      shell: bash
+      run: |
+        python3 -m pip install wheel
+        python3 -m pip install -r docs/requirements.txt
+
+    - uses: kenchan0130/actions-system-info@master
+      id: system-info
+
     ############################################################################
     # Ubuntu setup
     ############################################################################
-    - name: Setup python (ubuntu)
-      uses: actions/setup-python@v4
+    - name: Install+cache system packages (ubuntu)
       if: runner.os == 'Linux'
+      uses: awalsh128/cache-apt-pkgs-action@latest
       with:
-        python-version: ${{ matrix.python-version }}
+        packages: parallel cm-super dvipng pssh ffmpeg xvfb
+        version: ${{ runner.os }}
 
-    - name: Install system deps (ubuntu)
+    # 2024/09/24: Needed because caching + texlive don't play well
+    # together. There IS an "install texlive" action, but that requires manual
+    # specification of all packages needed, and it seem easier to just use the
+    # package manager to recursively pull in everything I would need.
+    - name: Install system packages (redundant, ubuntu)
       if: runner.os == 'Linux'
       shell: bash
       run: |
-        sudo apt-get update
-        sudo apt-get install parallel cm-super texlive-fonts-recommended
-        sudo apt-get install texlive-latex-extra dvipng pssh ffmpeg xvfb
-        python3 -m pip install --upgrade pip
-        python3 -m pip install wheel
+        sudo apt-get install -y texlive-fonts-recommended texlive-latex-extra
 
     ############################################################################
     # OSX setup
     ############################################################################
-
-    - name: Setup python (OSX)
-      uses: actions/setup-python@v4
+    - name: Enable homebrew (OSX)
       if: runner.os == 'macOS'
-      with:
-        python-version: ${{ matrix.python-version }}
+      uses: Homebrew/actions/setup-homebrew@master
 
     - uses: nick-fields/retry@v2
       name: Install system deps (OSX)
@@ -49,14 +57,7 @@ runs:
         max_attempts: 3
         shell: bash
         command: |
-          # 2023/01/16: || true needed because homebrew installation of whatever
-          # dependencies these packages requires manual intervention to fix, and I
-          # don't have a mac.
-          brew update && brew install parallel pssh ffmpeg
-          brew update && brew install --cask mactex
-          brew update && brew install --cask xquartz
-          python -m pip install --upgrade pip
-          python -m pip install wheel
+          brew install parallel pssh
 
     ############################################################################
     # SIERRA install
@@ -64,7 +65,6 @@ runs:
     - name: Install SIERRA
       shell: bash
       run: |
-        python3 -m pip install -r docs/requirements.txt
         cd docs && make man && cd ..
         python3 -m pip install .
         python3 -m pip install .[devel]
diff --git a/.github/workflows/analysis-top.yml b/.github/workflows/analysis-top.yml
new file mode 100644
index 00000000..193f560d
--- /dev/null
+++ b/.github/workflows/analysis-top.yml
@@ -0,0 +1,37 @@
+name: Analysis Top-level
+
+# Run:
+#
+# - Every month. Scheduling helps keep drift/issues with updates
+#   to runners at bay.
+# - On pushes.
+on:
+  push:
+    paths:
+      - 'sierra/**'
+
+  schedule:
+    - cron: '0 0 1 * *'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  analyze-ci-ubuntu-2004:
+    uses: ./.github/workflows/analyze-nox.yml
+    secrets: inherit
+    with:
+      os: ubuntu-20.04
+
+  analyze-ci-ubuntu-2204:
+    uses: ./.github/workflows/analyze-nox.yml
+    secrets: inherit
+    with:
+      os: ubuntu-22.04
+
+  analyze-ci-osx:
+    uses: ./.github/workflows/analyze-nox.yml
+    secrets: inherit
+    with:
+      os: macos-13
diff --git a/.github/workflows/analyze-nox.yml b/.github/workflows/analyze-nox.yml
new file mode 100644
index 00000000..b1b13d72
--- /dev/null
+++ b/.github/workflows/analyze-nox.yml
@@ -0,0 +1,47 @@
+name: OS Static Analysis
+
+on:
+  workflow_call:
+    inputs:
+      os:
+        required: True
+        type: string
+
+jobs:
+  nox:
+    runs-on: ${{ inputs.os }}
+    strategy:
+      matrix:
+        os:
+          - ${{ inputs.os }}
+
+        # 2024/08/26: Test the earliest and latest supported version, to speed
+        # up CI.
+        python-version:
+          - 3.8
+          - 3.11
+
+        session:
+          - lint
+          - docs
+          - analyze_pytype
+          - analyze_mypy
+
+        exclude:
+          - python-version: 3.11
+            os: ubuntu-20.04
+
+          - python-version: 3.8
+            os: ubuntu-22.04
+
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ./.github/actions/sierra-setup
+      - uses: kenchan0130/actions-system-info@master
+        id: system-info
+
+      - name: Run nox
+        run: |
+          nox \
+            --pythons ${{ matrix.python-version }} \
+            --sessions ${{ matrix.session }}
diff --git a/.github/workflows/argos.yml b/.github/workflows/argos.yml
deleted file mode 100644
index 0366ab59..00000000
--- a/.github/workflows/argos.yml
+++ /dev/null
@@ -1,177 +0,0 @@
-# Only stuff that actually tests the platform should be here: stage 1 and 2.
-name: ARGoS CI Tests
-
-on:
-  workflow_call:
-    inputs:
-      os:
-        required: True
-        type: string
-
-jobs:
-  bc-univar-sanity:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        python-version:
-          - 3.8
-          - 3.9
-
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ./.github/actions/sierra-setup
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: argos
-
-      - uses: nick-fields/retry@v2
-        name: Integration tests
-        with:
-          timeout_minutes: 3600
-          max_attempts: 3
-          shell: bash
-          command: ./scripts/argos-integration-tests.sh -f bc_univar_sanity_test
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-platform-argos-bc-univar-sanity-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
-
-  physics-engines:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        python-version:
-          - 3.8
-          - 3.9
-
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ./.github/actions/sierra-setup
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: argos
-
-      - uses: nick-fields/retry@v2
-        name: Integration tests
-        with:
-          timeout_minutes: 3600
-          max_attempts: 3
-          shell: bash
-          command: ./scripts/argos-integration-tests.sh -f physics_engines_test
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-platform-argos-physics-engines-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
-
-  stage1-univar:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        python-version:
-          - 3.8
-          - 3.9
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ./.github/actions/sierra-setup
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: argos
-
-      - uses: nick-fields/retry@v2
-        name: Integration tests
-        with:
-          timeout_minutes: 3600
-          max_attempts: 3
-          shell: bash
-          command: ./scripts/argos-integration-tests.sh -f stage1_univar_test
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-platform-argos-stage1-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
-
-  stage2-univar:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        python-version:
-          - 3.8
-          - 3.9
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ./.github/actions/sierra-setup
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: argos
-
-      - uses: nick-fields/retry@v2
-        name: Integration tests
-        with:
-          timeout_minutes: 3600
-          max_attempts: 3
-          shell: bash
-          command: ./scripts/argos-integration-tests.sh -f stage2_univar_test -e hpc.local
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-platform-argos-stage2-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
-
-
-  visual-capture:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        python-version:
-          - 3.8
-          - 3.9
-
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ./.github/actions/sierra-setup
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: argos
-
-      - uses: nick-fields/retry@v2
-        name: Integration tests
-        with:
-          timeout_minutes: 3600
-          max_attempts: 3
-          shell: bash
-          command: ./scripts/argos-integration-tests.sh -f vc_test
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-platform-argos-vc-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
-
-  cmdline:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        python-version:
-          - 3.8
-          - 3.9
-
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ./.github/actions/sierra-setup
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: argos
-
-      - uses: nick-fields/retry@v2
-        name: Integration tests
-        with:
-          timeout_minutes: 3600
-          max_attempts: 3
-          shell: bash
-          command: ./scripts/argos-integration-tests.sh -f cmdline_test
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-platform-argos-cmdline-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
diff --git a/.github/workflows/sierra-core.yml b/.github/workflows/core.yml
similarity index 52%
rename from .github/workflows/sierra-core.yml
rename to .github/workflows/core.yml
index 041cdebc..8a782a8a 100644
--- a/.github/workflows/sierra-core.yml
+++ b/.github/workflows/core.yml
@@ -8,41 +8,29 @@ on:
         type: string
 
 jobs:
-  cmdline-opts:
+  argos:
     runs-on: ${{ inputs.os }}
     strategy:
       matrix:
+        os:
+          - ${{ inputs.os }}
+
+        # 2024/08/26: Test the earliest and latest supported version, to speed
+        # up CI.
         python-version:
           - 3.8
-          - 3.9
-
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ./.github/actions/sierra-setup
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: argos
+          - 3.11
 
-      - uses: nick-fields/retry@v2
-        name: Cmdline options
-        with:
-          timeout_minutes: 3600
-          max_attempts: 3
-          shell: bash
-          command: ./scripts/core-integration-tests.sh -f cmdline_opts_test
+        function:
+          - cmdline_opts_test
+          - env_vars_test
 
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-core-cmdline-opts-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
+        exclude:
+          - python-version: 3.11
+            os: ubuntu-20.04
 
-  env-vars:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        python-version:
-          - 3.8
-          - 3.9
+          - python-version: 3.8
+            os: ubuntu-22.04
 
     steps:
       - uses: actions/checkout@v3
@@ -52,111 +40,146 @@ jobs:
           platform: argos
 
       - uses: nick-fields/retry@v2
-        name: Environment variables
         with:
           timeout_minutes: 3600
           max_attempts: 3
           shell: bash
-          command: ./scripts/core-integration-tests.sh -f env_vars_test
+          command: ./scripts/core-integration-tests.sh -f ${{ matrix.function }}
 
       - uses: actions/upload-artifact@v3
         with:
-          name: ci-core-env-vars-${{ runner.os }}-${{ matrix.python-version }}-coverage
+          name: ci-core-${{ matrix.function }}-${{ runner.os }}-${{ matrix.python-version }}-coverage
           path: .coverage.*
+          include-hidden-files: true
+          if-no-files-found: error
+
+
 
   bc-bivar-sanity:
     runs-on: ${{ inputs.os }}
     strategy:
       matrix:
+        os:
+          - ${{ inputs.os }}
+
+        platform:
+          - argos
+          - ros1gazebo
+
         python-version:
           - 3.8
           - 3.9
 
+        exclude:
+          - os: ubuntu-22.04
+            platform: ros1gazebo
+
     steps:
       - uses: actions/checkout@v3
       - uses: ./.github/actions/sierra-setup
       - uses: ./.github/actions/sample-project-setup
+        if: matrix.platform == 'argos'
         with:
           platform: argos
 
       - uses: ./.github/actions/sample-project-setup
-        if: runner.os == 'Linux'
+        if: matrix.platform == 'ros1gazebo'
         with:
           platform: ros1gazebo
           rosdistro: noetic
 
       - uses: nick-fields/retry@v2
-        name: Bivariate batch criteria sanity (ARGoS)
+        name: Bivariate batch criteria sanity (${{ matrix.platform }})
         with:
           timeout_minutes: 3600
           max_attempts: 3
           shell: bash
-          command: ./scripts/argos-integration-tests.sh -f bc_bivar_sanity_test
+          command: ./scripts/${{ matrix.platform }}-integration-tests.sh -f bc_bivar_sanity_test
 
-      - uses: nick-fields/retry@v2
-        if: runner.os == 'Linux'
-        name: Bivariate batch criteria sanity (ROS1+Gazebo)
-        with:
-          timeout_minutes: 3600
-          max_attempts: 3
-          shell: bash
-          command: ./scripts/ros1gazebo-integration-tests.sh -f bc_bivar_sanity_test
 
       - uses: actions/upload-artifact@v3
         with:
-          name: ci-core-bc-bivar-sanity-${{ runner.os }}-${{ matrix.python-version }}-coverage
+          name: ci-core-${{ matrix.platform }}-bc-bivar-sanity-${{ runner.os }}-${{ matrix.python-version }}-coverage
           path: .coverage.*
+          include-hidden-files: true
+          if-no-files-found: error
 
   stage1-bivar:
     runs-on: ${{ inputs.os }}
     strategy:
       matrix:
+        os:
+          - ${{ inputs.os }}
+
+        # 2024/08/26: Test the earliest and latest supported version, to speed
+        # up CI.
         python-version:
           - 3.8
-          - 3.9
+          - 3.11
+
+        platform:
+          - argos
+          - ros1gazebo
+
+        exclude:
+          - python-version: 3.11
+            os: ubuntu-20.04
+
+          - python-version: 3.8
+            os: ubuntu-22.04
+
+          - os: ubuntu-22.04
+            platform: ros1gazebo
 
     steps:
       - uses: actions/checkout@v3
       - uses: ./.github/actions/sierra-setup
       - uses: ./.github/actions/sample-project-setup
+        if: matrix.platform == 'argos'
         with:
           platform: argos
 
       - uses: ./.github/actions/sample-project-setup
-        if: runner.os == 'Linux'
+        if: matrix.platform == 'ros1gazebo'
         with:
           platform: ros1gazebo
           rosdistro: noetic
 
       - uses: nick-fields/retry@v2
-        name: Bivariate batch criteria stage 1 (ARGoS)
-        with:
-          timeout_minutes: 3600
-          max_attempts: 3
-          shell: bash
-          command: ./scripts/argos-integration-tests.sh -f stage1_bivar_test
-
-      - uses: nick-fields/retry@v2
-        if: runner.os == 'Linux'
-        name: Bivariate batch criteria stage 1 (ROS1+Gazebo)
+        name: Bivariate batch criteria stage 1 (${{ matrix.platform }}
         with:
           timeout_minutes: 3600
           max_attempts: 3
           shell: bash
-          command: ./scripts/ros1gazebo-integration-tests.sh -f stage1_bivar_test
+          command: ./scripts/${{ matrix.platform }}-integration-tests.sh -f stage1_bivar_test
 
       - uses: actions/upload-artifact@v3
         with:
-          name: ci-core-stage1-bivar-${{ runner.os }}-${{ matrix.python-version }}-coverage
+          name: ci-core-${{ matrix.platform }}-stage1-bivar-${{ runner.os }}-${{ matrix.python-version }}-coverage
           path: .coverage.*
+          include-hidden-files: true
+          if-no-files-found: error
 
   stage3-univar:
     runs-on: ${{ inputs.os }}
     strategy:
       matrix:
+        os:
+          - ${{ inputs.os }}
+
+        # 2024/08/26: Test the earliest and latest supported version, to speed
+        # up CI.
         python-version:
           - 3.8
-          - 3.9
+          - 3.11
+
+        exclude:
+          - python-version: 3.11
+            os: ubuntu-20.04
+
+          - python-version: 3.8
+            os: ubuntu-22.04
+
     steps:
       - uses: actions/checkout@v3
       - uses: ./.github/actions/sierra-setup
@@ -174,16 +197,31 @@ jobs:
 
       - uses: actions/upload-artifact@v3
         with:
-          name: ci-core-stage3-univar-${{ runner.os }}-${{ matrix.python-version }}-coverage
+          name: ci-core-argos-stage3-univar-${{ runner.os }}-${{ matrix.python-version }}-coverage
           path: .coverage.*
+          include-hidden-files: true
+          if-no-files-found: error
 
   stage3-bivar:
     runs-on: ${{ inputs.os }}
     strategy:
       matrix:
+        os:
+          - ${{ inputs.os }}
+
+        # 2024/08/26: Test the earliest and latest supported version, to speed
+        # up CI.
         python-version:
           - 3.8
-          - 3.9
+          - 3.11
+
+        exclude:
+          - python-version: 3.11
+            os: ubuntu-20.04
+
+          - python-version: 3.8
+            os: ubuntu-22.04
+
     steps:
       - uses: actions/checkout@v3
       - uses: ./.github/actions/sierra-setup
@@ -201,16 +239,31 @@ jobs:
 
       - uses: actions/upload-artifact@v3
         with:
-          name: ci-core-stage3-univar-${{ runner.os }}-${{ matrix.python-version }}-coverage
+          name: ci-core-argos-stage3-univar-${{ runner.os }}-${{ matrix.python-version }}-coverage
           path: .coverage.*
+          include-hidden-files: true
+          if-no-files-found: error
 
   stage4-univar:
     runs-on: ${{ inputs.os }}
     strategy:
       matrix:
+        os:
+          - ${{ inputs.os }}
+
+        # 2024/08/26: Test the earliest and latest supported version, to speed
+        # up CI.
         python-version:
           - 3.8
-          - 3.9
+          - 3.11
+
+        exclude:
+          - python-version: 3.11
+            os: ubuntu-20.04
+
+          - python-version: 3.8
+            os: ubuntu-22.04
+
     steps:
       - uses: actions/checkout@v3
       - uses: ./.github/actions/sierra-setup
@@ -228,16 +281,30 @@ jobs:
 
       - uses: actions/upload-artifact@v3
         with:
-          name: ci-core-stage4-univar-${{ runner.os }}-${{ matrix.python-version }}-coverage
+          name: ci-core-argos-stage4-univar-${{ runner.os }}-${{ matrix.python-version }}-coverage
           path: .coverage.*
+          include-hidden-files: true
 
   stage5-univar:
     runs-on: ${{ inputs.os }}
     strategy:
       matrix:
+        os:
+          - ${{ inputs.os }}
+
+        # 2024/08/26: Test the earliest and latest supported version, to speed
+        # up CI.
         python-version:
           - 3.8
-          - 3.9
+          - 3.11
+
+        exclude:
+          - python-version: 3.11
+            os: ubuntu-20.04
+
+          - python-version: 3.8
+            os: ubuntu-22.04
+
     steps:
       - uses: actions/checkout@v3
       - uses: ./.github/actions/sierra-setup
@@ -255,16 +322,32 @@ jobs:
 
       - uses: actions/upload-artifact@v3
         with:
-          name: ci-core-stage5-univar-${{ runner.os }}-${{ matrix.python-version }}-coverage
+          name: ci-core-argos-stage5-univar-${{ runner.os }}-${{ matrix.python-version }}-coverage
           path: .coverage.*
+          include-hidden-files: true
+          if-no-files-found: error
 
   stage5-bivar:
     runs-on: ${{ inputs.os }}
     strategy:
       matrix:
+
+        os:
+          - ${{ inputs.os }}
+
+        # 2024/08/26: Test the earliest and latest supported version, to speed
+        # up CI.
         python-version:
           - 3.8
-          - 3.9
+          - 3.11
+
+        exclude:
+          - python-version: 3.11
+            os: ubuntu-20.04
+
+          - python-version: 3.8
+            os: ubuntu-22.04
+
     steps:
       - uses: actions/checkout@v3
       - uses: ./.github/actions/sierra-setup
@@ -273,7 +356,7 @@ jobs:
           platform: argos
 
       - uses: nick-fields/retry@v2
-        name: Stage5 univariate tests
+        name: Stage5 bivariate tests
         with:
           timeout_minutes: 3600
           max_attempts: 3
@@ -282,5 +365,7 @@ jobs:
 
       - uses: actions/upload-artifact@v3
         with:
-          name: ci-core-stage5-bivar-${{ runner.os }}-${{ matrix.python-version }}-coverage
+          name: ci-core-argos-stage5-bivar-${{ runner.os }}-${{ matrix.python-version }}-coverage
           path: .coverage.*
+          include-hidden-files: true
+          if-no-files-found: error
diff --git a/.github/workflows/coverage-top.yml b/.github/workflows/coverage-top.yml
new file mode 100644
index 00000000..4d9a9c93
--- /dev/null
+++ b/.github/workflows/coverage-top.yml
@@ -0,0 +1,117 @@
+name: Coverage Top-level
+
+# Run:
+#
+# - Every month.  Scheduling helps keep drift/issues with updates
+#   to runners at bay.
+# - On pushes.
+#
+on:
+  push:
+    paths:
+      - 'sierra/**'
+
+  schedule:
+    - cron: '0 0 1 * *'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  # 2024/08/27: We don't test the core with OSX, because if it works on linux,
+  # it should work on OSX. Plus, the plugin tests utilize a lot of "core"
+  # functionality, it the core is already largely tested on OSX via that
+  # route. Plugins are another story, and are explicitly tested on OSX where
+  # feasible.
+  core-ci-ubuntu-2004:
+    uses: ./.github/workflows/core.yml
+    secrets: inherit
+    with:
+      os: ubuntu-20.04
+
+  core-ci-ubuntu-2204:
+    uses: ./.github/workflows/core.yml
+    secrets: inherit
+    with:
+      os: ubuntu-22.04
+
+  plugin-ci:
+    uses: ./.github/workflows/plugin.yml
+    secrets: inherit
+
+  unit-tests:
+    uses: ./.github/workflows/unit-tests.yml
+    secrets: inherit
+
+  publish:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version:
+          - 3.8
+
+    needs:
+      - core-ci-ubuntu-2004
+      - core-ci-ubuntu-2204
+      - plugin-ci
+
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ./.github/actions/publish
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          pypi-token: ${{ secrets.PYPI_API_TOKEN }}
+          testpypi-token: ${{ secrets.TEST_PYPI_API_TOKEN }}
+
+  coverage:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version:
+          - 3.8
+
+    needs:
+      - core-ci-ubuntu-2004
+      - plugin-ci
+      - unit-tests
+
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ./.github/actions/sierra-setup
+      - uses: actions/download-artifact@v4
+
+      - name: Generate coverage report
+        run: |
+          # ls -al . || true
+          # ls -al ci-*-Linux-${{ matrix.python-version }}-coverage/.* || true
+          # ls -al ci-*-Linux-${{ matrix.python-version }}-coverage/* || true
+
+          echo HERE1
+          find . -name "ci-*-Linux-${{ matrix.python-version }}-coverage*"
+          echo HERE2
+          coverage \
+            combine \
+            $(find . -name "ci-*-Linux-${{ matrix.python-version }}-coverage*")
+
+          coverage report --fail-under=80
+          coverage xml
+
+      - uses: actions/upload-artifact@v3
+        with:
+          name: ci-integration-coverage
+
+          path: .coverage
+
+      - uses: actions/upload-artifact@v3
+        with:
+          name: ci-integration-coverage-xml
+          path: coverage.xml
+
+      - name: Coveralls
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          COVERALLS_REPO_TOKEN: ${{ secrets.COVERALLS_REPO_TOKEN }}
+
+        run: |
+          coveralls
diff --git a/.github/workflows/coverage.yml b/.github/workflows/coverage.yml
deleted file mode 100644
index fa423809..00000000
--- a/.github/workflows/coverage.yml
+++ /dev/null
@@ -1,101 +0,0 @@
-name: Coverage CI
-
-# Run:
-#
-# - Every month.  Scheduling helps keep drift/issues with updates
-#   to runners at bay.
-# - On pushes.
-on:
-  push:
-    paths:
-      - 'sierra/**'
-  schedule:
-    - cron: '0 0 1 * *'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  argos-ci:
-    uses: ./.github/workflows/argos.yml
-    secrets: inherit
-    with:
-      os: ubuntu-20.04
-
-  ros1gazebo-ci:
-    uses: ./.github/workflows/ros1gazebo.yml
-    secrets: inherit
-    with:
-      os: ubuntu-20.04
-
-  sierra-core-ci:
-    uses: ./.github/workflows/sierra-core.yml
-    secrets: inherit
-    with:
-      os: ubuntu-20.04
-
-  ros1robot-ci:
-    uses: ./.github/workflows/ros1robot.yml
-    secrets: inherit
-    with:
-      os: ubuntu-20.04
-
-  exec-env-ci:
-    uses: ./.github/workflows/exec-env-plugins.yml
-    secrets: inherit
-    with:
-      os: ubuntu-20.04
-
-  unit-tests:
-    uses: ./.github/workflows/unit-tests.yml
-    secrets: inherit
-    with:
-      os: ubuntu-20.04
-
-  coverage:
-    runs-on: ubuntu-latest
-    strategy:
-      matrix:
-        python-version:
-          - 3.8
-
-    needs:
-      - unit-tests
-      - argos-ci
-      - ros1gazebo-ci
-      - ros1robot-ci
-      - exec-env-ci
-      - sierra-core-ci
-
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ./.github/actions/sierra-setup
-      - uses: actions/download-artifact@v4.1.7
-
-      - name: Generate coverage report
-        run: |
-
-          coverage combine ci-*-Linux-${{ matrix.python-version }}-coverage/.coverage.*  ci-*-Linux-${{ matrix.python-version }}-coverage/.coverage
-
-          coverage report
-          coverage xml
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-integration-coverage
-
-          path: .coverage
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-integration-coverage-xml
-          path: coverage.xml
-
-      - name: Coveralls
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-          COVERALLS_REPO_TOKEN: ${{ secrets.COVERALLS_REPO_TOKEN }}
-
-        run: |
-          coveralls
diff --git a/.github/workflows/exec-env-plugins.yml b/.github/workflows/exec-env-plugins.yml
deleted file mode 100644
index f0367572..00000000
--- a/.github/workflows/exec-env-plugins.yml
+++ /dev/null
@@ -1,81 +0,0 @@
-name: --exec-env plugin CI
-
-on:
-  workflow_call:
-    inputs:
-      os:
-        required: True
-        type: string
-
-  # push:
-  #   branches:
-  #     # - master
-  #     # - devel
-  #   paths:
-  #     - 'sierra/**'
-jobs:
-  adhoc:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        # You CANNOT use python 3.9 with ubuntu 20.04 with ROS, because 3.8 is
-        # the system python and things just don't work otherwise...
-        python-version:
-          - 3.8
-
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ./.github/actions/sierra-setup
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: argos
-
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: ros1gazebo
-          rosdistro: noetic
-
-      - name: Adhoc
-        run: |
-          ./scripts/argos-integration-tests.sh -f stage2_univar_test -e hpc.adhoc
-          ./scripts/ros1gazebo-integration-tests.sh -f stage2_univar_test -e hpc.adhoc
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-exec-env-adhoc-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
-
-  slurm:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        # You CANNOT use python 3.9 with ubuntu 20.04 with ROS, because 3.8 is
-        # the system python and things just don't work otherwise...
-        python-version:
-          - 3.8
-
-    steps:
-      - uses: actions/checkout@v3
-
-      - uses: ./.github/actions/sierra-setup
-
-      - uses: ./.github/actions/slurm-setup
-
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: argos
-
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: ros1gazebo
-          rosdistro: noetic
-
-      - name: SLURM
-        run: |
-          ./scripts/argos-integration-tests.sh -f stage2_univar_test -e hpc.slurm
-          ./scripts/ros1gazebo-integration-tests.sh -f stage2_univar_test -e hpc.slurm
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-exec-env-slurm-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
diff --git a/.github/workflows/integration-all.yml b/.github/workflows/integration-all.yml
deleted file mode 100644
index 1e1cf6c2..00000000
--- a/.github/workflows/integration-all.yml
+++ /dev/null
@@ -1,95 +0,0 @@
-name: Integration Tests
-
-# Run:
-#
-# - Every month. Scheduling helps keep drift/issues with updates
-#   to runners at bay.
-# - On pushes.
-on:
-  push:
-    paths:
-      - 'sierra/**'
-
-  schedule:
-    - cron: '0 0 1 * *'
-
-jobs:
-  sierra-core-ci-ubuntu:
-    uses: ./.github/workflows/sierra-core.yml
-    secrets: inherit
-    with:
-      os: ubuntu-20.04
-
-  sierra-core-ci-osx:
-    uses: ./.github/workflows/sierra-core.yml
-    secrets: inherit
-    with:
-      os: macos-12
-
-  argos-ci-ubuntu:
-    uses: ./.github/workflows/argos.yml
-    secrets: inherit
-    needs:
-      - sierra-core-ci-ubuntu
-
-    with:
-      os: ubuntu-20.04
-
-  argos-ci-osx:
-    uses: ./.github/workflows/argos.yml
-    secrets: inherit
-    needs:
-      - sierra-core-ci-osx
-    with:
-      os: macos-12
-
-
-  ros1gazebo-ci-ubuntu:
-    uses: ./.github/workflows/ros1gazebo.yml
-    secrets: inherit
-    needs:
-      - sierra-core-ci-ubuntu
-
-    with:
-      os: ubuntu-20.04
-
-  ros1robot-ci-ubuntu:
-    uses: ./.github/workflows/ros1robot.yml
-    secrets: inherit
-    needs:
-      - sierra-core-ci-ubuntu
-
-    with:
-      os: ubuntu-20.04
-
-  exec-env-ci-ubuntu:
-    uses: ./.github/workflows/exec-env-plugins.yml
-    secrets: inherit
-    needs:
-      - sierra-core-ci-ubuntu
-
-    with:
-      os: ubuntu-20.04
-
-  publish:
-    runs-on: ubuntu-latest
-    strategy:
-      matrix:
-        python-version:
-          - 3.8
-    needs:
-      - argos-ci-ubuntu
-      - argos-ci-osx
-      - sierra-core-ci-ubuntu
-      - sierra-core-ci-osx
-      - ros1gazebo-ci-ubuntu
-      - ros1robot-ci-ubuntu
-      - exec-env-ci-ubuntu
-
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ./.github/actions/publish
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          pypi-token: ${{ secrets.PYPI_API_TOKEN }}
-          testpypi-token: ${{ secrets.TEST_PYPI_API_TOKEN }}
diff --git a/.github/workflows/plugin.yml b/.github/workflows/plugin.yml
new file mode 100644
index 00000000..9079eb87
--- /dev/null
+++ b/.github/workflows/plugin.yml
@@ -0,0 +1,223 @@
+# Only stuff that actually tests the platform should be here: stage 1 and 2.
+name: Plugin CI
+
+on:
+  workflow_call:
+
+jobs:
+  plugin-argos:
+    runs-on: ${{ matrix.os }}
+    defaults:
+      run:
+        shell: bash
+        working-directory: ${{ github.workspace }}
+
+    strategy:
+      matrix:
+        os:
+          - ubuntu-20.04
+          - ubuntu-22.04
+          - macos-13
+
+        # 2024/08/26: Test the earliest and latest supported version, to speed
+        # up CI.
+        python-version:
+          - 3.8
+          - 3.11
+
+        function:
+          - physics_engines_test
+          - vc_test
+          - cmdline_test
+          - bc_univar_sanity_test
+          - stage1_univar_test
+          - stage2_univar_test
+          - stage3_univar_test
+          - stage4_univar_test
+          - stage5_univar_test
+          - bc_bivar_sanity_test
+          - stage1_bivar_test
+          - stage2_bivar_test
+          - stage3_bivar_test
+          - stage5_bivar_test
+
+        exclude:
+          - python-version: 3.11
+            os: ubuntu-20.04
+
+          - python-version: 3.8
+            os: ubuntu-22.04
+
+          - function: vc_test # this test takes FOREVER
+            os: macos-13
+
+          - function: cmdline # this test adds marginal confidence
+            os: macos-13
+
+          - function: physics_engines_test # this test adds marginal confidence
+            os: macos-13
+
+          - function: stage4_univar_test
+            os: macos-13
+
+          - function: stage5_univar_test
+            os: macos-13
+
+          - function: stage4_bivar_test
+            os: macos-13
+
+          - function: stage5_bivar_test
+            os: macos-13
+
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ./.github/actions/sierra-setup
+      - uses: ./.github/actions/sample-project-setup
+        with:
+          platform: argos
+
+      - uses: nick-fields/retry@v2
+        name: Integration tests
+        with:
+          timeout_minutes: 3600
+          max_attempts: 3
+          command: ./scripts/argos-integration-tests.sh -f ${{ matrix.function }} -e hpc.local
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: ci-platform-argos-${{ matrix.function }}-${{ runner.os }}-${{ matrix.python-version }}-coverage
+          path: .coverage.*
+          include-hidden-files: true
+          if-no-files-found: error
+
+  plugin-ros1robot:
+    runs-on: ${{ matrix.os }}
+    defaults:
+      run:
+        shell: bash
+        working-directory: ${{ github.workspace }}
+
+    strategy:
+      matrix:
+        python-version:
+          - 3.8
+
+        function:
+          - bc_univar_sanity_test
+          - stage1_test
+
+        os:
+          - ubuntu-20.04
+
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ./.github/actions/sierra-setup
+      - uses: ./.github/actions/sample-project-setup
+        with:
+          platform: ros1robot
+          rosdistro: noetic
+
+      - name: Integration tests
+        run: |
+          ./scripts/ros1robot-integration-tests.sh -f ${{ matrix.function }} -e hpc.local
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: ci-platform-ros1robot-${{ matrix.function }}-${{ runner.os }}-${{ matrix.python-version }}-coverage
+          path: .coverage.*
+          include-hidden-files: true
+          if-no-files-found: error
+
+  plugin-ros1gazebo:
+    runs-on: ${{ matrix.os }}
+    defaults:
+      run:
+        shell: bash
+        working-directory: ${{ github.workspace }}
+
+    strategy:
+      matrix:
+        # You CANNOT use python 3.9 with ubuntu 20.04 with ROS, because 3.8 is
+        # the system python and things just don't work otherwise...
+        python-version:
+          - 3.8
+
+        function:
+          - bc_univar_sanity_test
+          - stage2_univar_test
+
+        os:
+          - ubuntu-20.04
+
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ./.github/actions/sierra-setup
+      - uses: ./.github/actions/sample-project-setup
+        with:
+          platform: ros1gazebo
+          rosdistro: noetic
+
+      - name: Integration tests
+        run: |
+          ./scripts/ros1gazebo-integration-tests.sh -f ${{ matrix.function }} -e hpc.local
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: ci-platform-ros1gazebo-${{ matrix.function }}-${{ runner.os }}-${{ matrix.python-version }}-coverage
+          path: .coverage.*
+          include-hidden-files: true
+          if-no-files-found: error
+
+  plugin-exec-env:
+    runs-on: ${{ matrix.os }}
+    defaults:
+      run:
+        shell: bash
+        working-directory: ${{ github.workspace }}
+
+    strategy:
+      matrix:
+        # You CANNOT use python 3.9 with ubuntu 20.04 with ROS, because 3.8 is
+        # the system python and things just don't work otherwise...
+        python-version:
+          - 3.8
+
+        platform:
+          - argos
+          - ros1gazebo
+
+        exec-env:
+          - hpc.adhoc
+          - hpc.slurm
+
+        os:
+          - ubuntu-20.04
+
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ./.github/actions/sierra-setup
+      - uses: ./.github/actions/sample-project-setup
+        if: matrix.platform == 'argos'
+        with:
+          platform: argos
+
+      - uses: ./.github/actions/sample-project-setup
+        if: matrix.platform == 'ros1gazebo'
+        with:
+          platform: ros1gazebo
+          rosdistro: noetic
+
+      - uses: ./.github/actions/slurm-setup
+        if: matrix.exec-env == 'hpc.slurm'
+
+      - name: Integration Tests
+        if: matrix.platform != ''
+        run: |
+          ./scripts/${{ matrix.platform }}-integration-tests.sh -f stage2_univar_test -e ${{ matrix.exec-env }}
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: ci-${{ matrix.platform }}-${{ matrix.exec-env }}-${{ runner.os }}-${{ matrix.python-version }}-coverage
+          path: .coverage.*
+          include-hidden-files: true
+          if-no-files-found: error
diff --git a/.github/workflows/ros1gazebo.yml b/.github/workflows/ros1gazebo.yml
deleted file mode 100644
index 57b27d3a..00000000
--- a/.github/workflows/ros1gazebo.yml
+++ /dev/null
@@ -1,68 +0,0 @@
-# Only stuff that actually tests the platform should be here: stage 1 and 2.
-name: ROS1+Gazebo CI Tests
-
-on:
-  workflow_call:
-    inputs:
-      os:
-        required: True
-        type: string
-
-jobs:
-  bc-univar-sanity:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        # You CANNOT use python 3.9 with ubuntu 20.04 with ROS, because 3.8 is
-        # the system python and things just don't work otherwise...
-        python-version:
-          - 3.8
-
-    steps:
-      - uses: actions/checkout@v3
-
-      - uses: ./.github/actions/sierra-setup
-
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: ros1gazebo
-          rosdistro: noetic
-
-      - name: Integration tests
-        shell: bash
-        run: |
-          ./scripts/ros1gazebo-integration-tests.sh -f bc_univar_sanity_test
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-platform-ros1gazebo-bc-univar-sanity-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
-
-  stage2-univar:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        # You CANNOT use python 3.9 with ubuntu 20.04 with ROS, because 3.8 is
-        # the system python and things just don't work otherwise...
-        python-version:
-          - 3.8
-
-    steps:
-      - uses: actions/checkout@v3
-
-      - uses: ./.github/actions/sierra-setup
-
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: ros1gazebo
-          rosdistro: noetic
-
-      - name: Integration tests
-        shell: bash
-        run: |
-          ./scripts/ros1gazebo-integration-tests.sh -f stage2_univar_test -e hpc.local
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-platform-ros1gazebo-stage2-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
diff --git a/.github/workflows/ros1robot.yml b/.github/workflows/ros1robot.yml
deleted file mode 100644
index 3cde7a14..00000000
--- a/.github/workflows/ros1robot.yml
+++ /dev/null
@@ -1,66 +0,0 @@
-# Only stuff that actually tests the platform should be here: stage 1 and 2.
-name: ROS1+Robot CI Tests
-
-on:
-  workflow_call:
-    inputs:
-      os:
-        required: True
-        type: string
-
-jobs:
-  bc-univar-sanity:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        python-version:
-          - 3.8
-          - 3.9
-
-    steps:
-      - uses: actions/checkout@v3
-
-      - uses: ./.github/actions/sierra-setup
-
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: ros1robot
-          rosdistro: noetic
-
-      - name: Integration tests
-        shell: bash
-        run: |
-          ./scripts/ros1robot-integration-tests.sh -f bc_univar_sanity_test
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-platform-ros1robot-bc-sanity-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
-
-  stage1:
-    runs-on: ${{ inputs.os }}
-    strategy:
-      matrix:
-        python-version:
-          - 3.8
-          - 3.9
-
-    steps:
-      - uses: actions/checkout@v3
-
-      - uses: ./.github/actions/sierra-setup
-
-      - uses: ./.github/actions/sample-project-setup
-        with:
-          platform: ros1robot
-          rosdistro: noetic
-
-      - name: Integration tests
-        shell: bash
-        run: |
-          ./scripts/ros1robot-integration-tests.sh -f stage1_test -e hpc.local
-
-      - uses: actions/upload-artifact@v3
-        with:
-          name: ci-platform-ros1robot-stage1-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage.*
diff --git a/.github/workflows/static-analysis.yml b/.github/workflows/static-analysis.yml
deleted file mode 100644
index 884ef641..00000000
--- a/.github/workflows/static-analysis.yml
+++ /dev/null
@@ -1,38 +0,0 @@
-name: Static Analysis
-
-# Run:
-#
-# - Every month.  Scheduling helps keep drift/issues with updates
-#   to runners at bay.
-# - On pushes.
-on:
-  push:
-    paths:
-      - 'sierra/**'
-  schedule:
-    - cron: '0 0 1 * *'
-
-concurrency:
-  group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  analyze:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os:
-          - ubuntu-20.04 # ubuntu-latest, as of 8/22
-          - macos-12
-
-        python-version:
-          - 3.8
-          - 3.9
-
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ./.github/actions/sierra-setup
-
-      - name: Run nox
-        run: |
-          nox --pythons ${{ matrix.python-version }} --sessions lint analysis docs
diff --git a/.github/workflows/unit-tests.yml b/.github/workflows/unit-tests.yml
index f9537b80..cb7017bc 100644
--- a/.github/workflows/unit-tests.yml
+++ b/.github/workflows/unit-tests.yml
@@ -2,19 +2,29 @@ name: Unit Tests
 
 on:
   workflow_call:
-    inputs:
-      os:
-        required: True
-        type: string
 
 jobs:
-  unit-tests:
-    runs-on: ${{ inputs.os }}
+  ci-unit-tests:
+    runs-on: ${{ matrix.os }}
     strategy:
       matrix:
+        os:
+          - ubuntu-20.04
+          - ubuntu-22.04
+          - macos-13
+
+        # 2024/08/26: Test the earliest and latest supported version, to speed
+        # up CI.
         python-version:
           - 3.8
-          - 3.9
+          - 3.11
+
+        exclude:
+          - python-version: 3.11
+            os: ubuntu-20.04
+
+          - python-version: 3.8
+            os: ubuntu-22.04
 
     steps:
       - uses: actions/checkout@v3
@@ -29,7 +39,9 @@ jobs:
           which python3
           nox --pythons ${{ matrix.python-version }} --sessions unit_tests
 
-      - uses: actions/upload-artifact@v3
+      - uses: actions/upload-artifact@v4
         with:
           name: ci-unit-tests-${{ runner.os }}-${{ matrix.python-version }}-coverage
-          path: .coverage
+          path: .coverage*
+          include-hidden-files: true
+          if-no-files-found: error
diff --git a/.projectile b/.projectile
index 76562727..d8478ef0 100755
--- a/.projectile
+++ b/.projectile
@@ -1,3 +1,7 @@
 -/docs/_build
 -/sierra.egg-info
 -/dist
+-*.nox
+-*__pycache__
+-*.mypy_cache
+-*.venv
diff --git a/README.rst b/README.rst
index 85d3388c..e7bd84c4 100755
--- a/README.rst
+++ b/README.rst
@@ -9,17 +9,13 @@ SIERRA (reSearch pIpEline for Reproducibility, Reusability, and Automation)
                   :target: https://pypi.python.org/pypi/sierra-research/
 
 .. |supported-pythons| image:: https://img.shields.io/pypi/pyversions/sierra-research.svg
-                       :target: https://pypi.python.org/pypi/sierra-research/
 
-.. |linux-supported| image:: https://img.shields.io/badge/os-Linux-crimson
-.. |osx-supported| image:: https://img.shields.io/badge/os-OSX-crimson
+.. |os-supported| image:: https://img.shields.io/badge/os-linux%20%7C%20macOS-blue
 
-.. |ci-integration-master| image:: https://github.com/jharwell/sierra/actions/workflows/integration-all.yml/badge.svg?branch=master
-.. |ci-analysis-master| image:: https://github.com/jharwell/sierra/actions/workflows/static-analysis.yml/badge.svg?branch=master
+.. |ci-analysis-master| image:: https://github.com/jharwell/sierra/actions/workflows/analysis-top.yml/badge.svg?branch=master
 .. |ci-coverage-master| image:: https://coveralls.io/repos/github/jharwell/sierra/badge.svg?branch=master
 
-.. |ci-integration-devel| image:: https://github.com/jharwell/sierra/actions/workflows/integration-all.yml/badge.svg?branch=devel
-.. |ci-analysis-devel| image:: https://github.com/jharwell/sierra/actions/workflows/static-analysis.yml/badge.svg?branch=devel
+.. |ci-analysis-devel| image:: https://github.com/jharwell/sierra/actions/workflows/analysis-top.yml/badge.svg?branch=devel
 .. |ci-coverage-devel| image:: https://coveralls.io/repos/github/jharwell/sierra/badge.svg?branch=devel
 
 .. |license| image:: https://img.shields.io/badge/License-MIT-blue.svg
@@ -31,24 +27,17 @@ SIERRA (reSearch pIpEline for Reproducibility, Reusability, and Automation)
           :target: https://sierra.readthedocs.io/en/master/
 
 .. |maintenance| image:: https://img.shields.io/badge/Maintained%3F-yes-green.svg
-                  :target: https://gitHub.com/jharwell/sierra/graphs/commit-activity
 
 
-:Usage:
-   |pepy-downloads| |pypi-version| |supported-pythons| |linux-supported|
-   |osx-supported|
-
-:Release:
-
-   |ci-analysis-master| |ci-integration-master| |ci-coverage-master|
-
-:Development:
-
-   |ci-analysis-devel| |ci-integration-devel| |ci-coverage-devel|
-
-:Misc:
-
-   |license| |doi| |docs| |maintenance|
++---------------+--------------------------------------------------------------------+
+| Usage         | |pepy-downloads| |pypi-version| |supported-pythons| |os-supported| |
++---------------+--------------------------------------------------------------------+
+| Release       | |ci-analysis-master| |ci-coverage-master|                          |
++---------------+--------------------------------------------------------------------+
+| Development   | |ci-analysis-devel| |ci-coverage-devel|                            |
++---------------+--------------------------------------------------------------------+
+| Miscellaneous |    |license| |doi| |docs| |maintenance|                            |
++---------------+--------------------------------------------------------------------+
 
 
 TL;DR
diff --git a/docs/conf.py b/docs/conf.py
index af8aede1..a5a3ddc5 100755
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -159,11 +159,13 @@
     "Hecker2015": ("Hecker2015",
                    "https://www.cs.unm.edu/~wjust/CS523/S2018/Readings/Hecker_Beyond_Pheromones_Swarm_Intelligence.pdf"),
     "Rosenfeld2006": ("Rosenfeld2006",
-                      "https://users.umiacs.umd.edu/~sarit/data/articles/rosenfeldetalbook06.pdf"),
-    "SIERRA_GITHUB": ("https://github.com/jharwell/sierra",
-                      "https://github.com/jharwell/sierra"),
-    "SIERRA_SAMPLE_PROJECT": ("https://github.com/jharwell/sierra-sample-project",
-                              "https://github.com/jharwell/sierra-sample-project"),
+                      "http://users.umiacs.umd.edu/~sarit/data/articles/rosenfeldetalbook06.pdf"),
+    "SIERRA_GITHUB": ("https://github.com/jharwell/sierra.git",
+                      "https://github.com/jharwell/sierra.git"),
+    "SIERRA_ROSBRIDGE": ("https://github.com/jharwell/sierra_rosbridge.git",
+                         "https://github.com/jharwell/sierra_rosbridge.git"),
+    "SIERRA_SAMPLE_PROJECT": ("https://github.com/jharwell/sierra-sample-project.git",
+                              "https://github.com/jharwell/sierra-sample-project.git"),
     "SIERRA_DOCS": ("https://sierra.readthedocs.io/en/master",
                     "https://sierra.readthedocs.io/en/master"),
     "FORDYCA": ("FORDYCA", "https://swarm-robotics-fordyca.readthedocs.io"),
diff --git a/docs/requirements.txt b/docs/requirements.txt
index c3545c76..72106916 100755
--- a/docs/requirements.txt
+++ b/docs/requirements.txt
@@ -1,7 +1,7 @@
 -e .
 
-sphinx==5.0.2
-docutils==0.18.1
+sphinx==6.0.0
+docutils==0.19
 sphinx-rtd-theme
 sphinx-argparse
 sphinx-tabs
diff --git a/docs/src/getting_started.rst b/docs/src/getting_started.rst
index 9c434bf9..25d5361c 100755
--- a/docs/src/getting_started.rst
+++ b/docs/src/getting_started.rst
@@ -48,6 +48,7 @@ Basic Setup
               - ``pssh``
               - ``ffmpeg``
               - ``xvfb``
+              - ``psmisc``
 
            .. group-tab:: OSX
 
diff --git a/docs/src/requirements.rst b/docs/src/requirements.rst
index fde485eb..5fdb1cba 100644
--- a/docs/src/requirements.rst
+++ b/docs/src/requirements.rst
@@ -34,8 +34,8 @@ One of the following:
 Python Requirements
 ===================
 
-Python 3.8+. Tested with 3.8-3.9. It may work for newer versions, probably won't
-for older.
+Python 3.8+. Tested with 3.8-3.10. It may work for newer versions, probably
+won't for older.
 
 .. _ln-sierra-req-exp:
 
diff --git a/docs/src/trial.rst b/docs/src/trial.rst
index 01b625eb..356a43a9 100755
--- a/docs/src/trial.rst
+++ b/docs/src/trial.rst
@@ -30,6 +30,7 @@ you clone things somewhere else.
               - ``pssh``
               - ``ffmpeg``
               - ``xvfb``
+              - ``psmisc``
 
            .. group-tab:: OSX
 
@@ -92,7 +93,7 @@ you clone things somewhere else.
 
             Where ``<distro>`` is replaced by your ROS distro.
 
-         #.  Install the `SIERRA ROSBridge <https://github.com/jharwell/sierra_rosbridge>`_::
+         #.  Install ROS bridge :xref:`SIERRA_ROSBRIDGE`::
 
                pip3 install catkin_tools
                git clone https://github.com/jharwell/sierra_rosbridge.git
diff --git a/docs/src/usage/examples.rst b/docs/src/usage/examples.rst
index deaa6c45..7bacd976 100644
--- a/docs/src/usage/examples.rst
+++ b/docs/src/usage/examples.rst
@@ -171,8 +171,6 @@ Bivariate Batch Criteria Example
 This example shows how to use ARGoS with a bivariate batch criteria (i.e., with
 TWO variables/things you want to vary jointly)::
 
-::
-
    sierra-cli \
    --sierra-root=$HOME/exp \
    --template-input-file=exp/your-experiment.argos \
@@ -354,8 +352,6 @@ Bivariate Batch Criteria Example
 This example shows how to use ROS1+gazebo with a bivariate batch criteria (i.e.,
 with TWO variables/things you want to vary jointly)::
 
-::
-
    sierra-cli \
    --sierra-root=$HOME/exp \
    --template-input-file=exp/your-experiment.argos \
@@ -390,8 +386,6 @@ Basic Example
 This examples shows the simplest way to use SIERRA with the ROS1+robot platform
 plugin::
 
-::
-
    sierra-cli \
    --platform=platform.ros1robot \
    --project=ros1robot_project \
diff --git a/docs/src/usage/subprograms.rst b/docs/src/usage/subprograms.rst
index fc70700a..ffdedb87 100755
--- a/docs/src/usage/subprograms.rst
+++ b/docs/src/usage/subprograms.rst
@@ -20,3 +20,7 @@ depending on what you are doing.
 
 - :program:`parallel-rsync` - Used during stage 1 when generating experiments
   experiments (:term:`ROS1+Robot` platform).
+
+- :program:`killall` - Used during stage 2 when running :term:
+  :term:`ARGoS`, :term:`ROS1+Gazebo` experiments to cleanup after each
+  experimental run.
diff --git a/noxfile.py b/noxfile.py
index 03ce9735..364660c1 100644
--- a/noxfile.py
+++ b/noxfile.py
@@ -22,8 +22,10 @@
 
 # Project packages
 
+versions = ['3.8', '3.9', '3.10', '3.11']
 
-@nox.session(python=['3.8', '3.9'])
+
+@nox.session(python=versions)
 def lint(session):
     session.install('.')  # same as 'pip3 install .'
     session.install('.[devel]')  # same as 'pip3 install .[devel]'
@@ -52,8 +54,8 @@ def lint(session):
 
 
 # venv argument needed so the apt module can be found in the nox venv on linux
-@nox.session(python=['3.8', '3.9'])
-def analysis(session):
+@nox.session(python=versions)
+def analyze_pytype(session):
     session.install('.')  # same as 'pip3 install .'
     session.install('.[devel]')  # same as 'pip3 install .[devel]'
 
@@ -65,6 +67,15 @@ def analysis(session):
                 'sierra',
                 external=True)
 
+
+# venv argument needed so the apt module can be found in the nox venv on linux
+@nox.session(python=versions)
+def analyze_mypy(session):
+    session.install('.')  # same as 'pip3 install .'
+    session.install('.[devel]')  # same as 'pip3 install .[devel]'
+
+    cores = psutil.cpu_count()
+
     session.run('mypyrun',
                 '--select',
                 # No syntax errors
@@ -126,7 +137,7 @@ def analysis(session):
                 'sierra')
 
 
-@nox.session(python=['3.8', '3.9'])
+@nox.session(python=versions)
 def docs(session):
     session.install('.')  # same as 'pip3 install .'
     session.install('.[devel]')  # same as 'pip3 install .[devel]'
@@ -147,7 +158,7 @@ def docs(session):
                 'sierra')
 
 
-@nox.session(python=['3.8', '3.9'])
+@nox.session(python=versions)
 def unit_tests(session):
     session.install('.')  # same as 'pip3 install .'
     session.install('.[devel]')  # same as 'pip3 install .[devel]'
diff --git a/scripts/argos-integration-tests.sh b/scripts/argos-integration-tests.sh
index 73a00530..92091157 100755
--- a/scripts/argos-integration-tests.sh
+++ b/scripts/argos-integration-tests.sh
@@ -7,11 +7,11 @@ setup_env() {
     export SIERRA_ROOT=$HOME/test
 
     if [ "$GITHUB_ACTIONS" = true ]; then
-        export SAMPLE_ROOT=$HOME/work/sierra-sample-project
+        export SAMPLE_ROOT=$GITHUB_WORKSPACE/sierra-sample-project
         export ARGOS_INSTALL_PREFIX=/usr/local
     else
-        export SAMPLE_ROOT=$HOME/git/sierra-sample-project
-        export ARGOS_INSTALL_PREFIX=/$HOME/.local
+        export SAMPLE_ROOT=$HOME/git/thesis/sierra-sample-project
+        export ARGOS_INSTALL_PREFIX=/$HOME/.local/
     fi
 
     # Set ARGoS library search path. Must contain both the ARGoS core libraries path
@@ -27,7 +27,7 @@ setup_env() {
     # between jobs in a workflow  on OSX, and doing this the way
     # github says to do doesn't work.
     export PATH=$pythonLocation/bin:$PATH
-
+    
     # Required to get coverage.py to work with the installed version
     # of SIERRA. Omitting this results in either nothing getting
     # measured because the local site-packages is omitted, or if that
@@ -39,21 +39,21 @@ setup_env() {
 
     export COVERAGE_CMD="coverage \
     run \
-     --debug=debug\
+     --debug=debug \
      $(which sierra-cli)"
 
     export SIERRA_BASE_CMD="$COVERAGE_CMD \
        --sierra-root=$SIERRA_ROOT \
        --platform=platform.argos \
        --project=argos_project \
-       --exp-setup=exp_setup.T5000.K5 \
+       --exp-setup=exp_setup.T500.K5 \
        --n-runs=4 \
        --exec-strict \
        --template-input-file=$SAMPLE_ROOT/exp/argos/template.argos \
        --scenario=LowBlockCount.10x10x2 \
        --exec-no-devnull \
        --with-robot-leds \
-       --with-robot-rab\
+       --with-robot-rab \
        --log-level=TRACE"
 
     export PARALLEL="--env ARGOS_PLUGIN_PATH --env LD_LIBRARY_PATH"
@@ -73,13 +73,24 @@ sanity_check_pipeline() {
 
     $SIERRA_CMD --pipeline 3
 
-    $SIERRA_CMD --pipeline 4
+    # Semi-hack to avoid running stage 4 on OSX in github actions in
+    # order to avoid having to install mactex.
+    if [[ ! (("$GITHUB_ACTIONS" = true) && ("$RUNNER_OS" = "macOS")) ]]; then
 
-    rm -rf $SIERRA_ROOT
+        $SIERRA_CMD --pipeline 4
 
-    $SIERRA_CMD --pipeline 1 2 3 4
+        rm -rf $SIERRA_ROOT
 
-    rm -rf $SIERRA_ROOT
+        $SIERRA_CMD --pipeline 1 2 3 4
+
+        rm -rf $SIERRA_ROOT
+    else
+        rm -rf $SIERRA_ROOT
+
+        $SIERRA_CMD --pipeline 1 2 3
+
+        rm -rf $SIERRA_ROOT
+    fi
 }
 
 ################################################################################
@@ -87,7 +98,12 @@ sanity_check_pipeline() {
 # crash.
 ################################################################################
 physics_engines_test() {
-    ENGINES=(1 2 4 6 8 12 16 24)
+
+    # Don't test with ALL engine sizes, just the smallest, largest,
+    # and a few in between.
+    #
+    # All: 1 2 4 6 8 12 16 24
+    ENGINES=(1 8 16 24)
 
     for n in "${ENGINES[@]}"
     do
@@ -195,7 +211,7 @@ stage1_univar_test() {
         [ -f "$input_root/exp${exp}/seeds.pkl" ] || false
 
         for run in {0..3}; do
-            [ -f "$input_root/exp${exp}/template_run${run}.argos" ] ||false
+            [ -f "$input_root/exp${exp}/template_${run}.argos" ] ||false
         done
     done
 
@@ -236,7 +252,7 @@ stage1_bivar_test() {
             [ -f "$input_root1/c1-exp${i}+c2-exp${j}/exp_def.pkl" ] || false
             [ -f "$input_root1/c1-exp${i}+c2-exp${j}/seeds.pkl" ] || false
             for run in {0..3}; do
-                [ -f "$input_root1/c1-exp${i}+c2-exp${j}/template_run${run}.argos" ] ||false
+                [ -f "$input_root1/c1-exp${i}+c2-exp${j}/template_${run}.argos" ] ||false
             done
         done
     done
@@ -268,7 +284,7 @@ stage1_bivar_test() {
             [ -f "$input_root2/c1-exp${i}+c2-exp${j}/seeds.pkl" ] || false
 
             for run in {0..3}; do
-                [ -f "$input_root2/c1-exp${i}+c2-exp${j}/template_run${run}.argos" ] ||false
+                [ -f "$input_root2/c1-exp${i}+c2-exp${j}/template_${run}.argos" ] ||false
             done
         done
     done
@@ -384,7 +400,7 @@ stage2_bivar_test() {
     for i in {0..2}; do
         for j in {0..4}; do
             for run in {0..3}; do
-                [ -f "$output_root1/c1-exp${i}+c2-exp${j}/template_run${run}_output/collected-data.csv" ] ||false
+                [ -f "$output_root1/c1-exp${i}+c2-exp${j}/template_${run}_output/collected-data.csv" ] ||false
             done
         done
     done
@@ -752,7 +768,7 @@ vc_test() {
     --batch-criteria population_size.Linear3.C3 \
     --pipeline 1 2 3 4 \
     --platform-vc \
-    --exp-setup=exp_setup.T500"
+    --exp-setup=exp_setup.T50"
 
     cameras=(overhead
              sw
@@ -792,7 +808,7 @@ cmdline_test() {
     --physics-n-engines=1 \
     --controller=foraging.footbot_foraging \
     --batch-criteria population_size.Linear3.C3 \
-    --exp-setup=exp_setup.T500"
+    --exp-setup=exp_setup.T50"
 
 
     $SIERRA_CMD --n-robots=10 --pipeline 1
diff --git a/scripts/core-integration-tests.sh b/scripts/core-integration-tests.sh
index 3780bfd6..a45a171c 100755
--- a/scripts/core-integration-tests.sh
+++ b/scripts/core-integration-tests.sh
@@ -7,7 +7,7 @@ setup_env() {
     export SIERRA_ROOT=$HOME/test
 
     if [ "$GITHUB_ACTIONS" = true ]; then
-        export SAMPLE_ROOT=$HOME/work/sierra-sample-project
+        export SAMPLE_ROOT=$GITHUB_WORKSPACE/sierra-sample-project
         export ARGOS_INSTALL_PREFIX=/usr/local
 
     else
diff --git a/scripts/ros1gazebo-integration-tests.sh b/scripts/ros1gazebo-integration-tests.sh
index 8755d1f1..1b9f6861 100755
--- a/scripts/ros1gazebo-integration-tests.sh
+++ b/scripts/ros1gazebo-integration-tests.sh
@@ -7,7 +7,7 @@ setup_env() {
     export SIERRA_ROOT=$HOME/test
 
     if [ "$GITHUB_ACTIONS" = true ]; then
-        export SAMPLE_ROOT=$HOME/work/sierra-sample-project
+        export SAMPLE_ROOT=$GITHUB_WORKSPACE/sierra-sample-project
     else
         export SAMPLE_ROOT=$HOME/git/sierra-sample-project
     fi
@@ -45,11 +45,11 @@ setup_env() {
        --project=ros1gazebo_project \
        --exp-setup=exp_setup.T5.K5\
        --n-runs=4 \
-       --exec-strict\
+       --exec-strict \
        --template-input-file=$SAMPLE_ROOT/exp/ros1gazebo/turtlebot3_house.launch \
        --scenario=HouseWorld.10x10x2 \
        --controller=turtlebot3.wander \
-       --robot turtlebot3\
+       --robot turtlebot3 \
        --exec-no-devnull \
        --log-level=TRACE"
 
diff --git a/scripts/ros1robot-integration-tests.sh b/scripts/ros1robot-integration-tests.sh
index 59f42799..d63278f9 100755
--- a/scripts/ros1robot-integration-tests.sh
+++ b/scripts/ros1robot-integration-tests.sh
@@ -7,7 +7,7 @@ setup_env() {
     export SIERRA_ROOT=$HOME/test
 
     if [ "$GITHUB_ACTIONS" = true ]; then
-        export SAMPLE_ROOT=$HOME/work/sierra-sample-project
+        export SAMPLE_ROOT=$GITHUB_WORKSPACE/sierra-sample-project
     else
         export SAMPLE_ROOT=$HOME/git/sierra-sample-project
     fi
diff --git a/setup.py b/setup.py
index 0dedb61b..39c37832 100644
--- a/setup.py
+++ b/setup.py
@@ -25,7 +25,7 @@
 # The directory containing this file
 here = pathlib.Path(__file__).parent
 
-# The text of the README file
+# The text of the README file.
 readme = (here / "README.rst").read_text()
 
 # Get version
@@ -56,6 +56,9 @@
         # "Programming Language :: Python :: 3",
         "Programming Language :: Python :: 3.8",
         "Programming Language :: Python :: 3.9",
+        "Programming Language :: Python :: 3.10",
+        "Programming Language :: Python :: 3.11",
+        "Programming Language :: Python :: 3.12",
         "License :: OSI Approved :: MIT License",
         "Environment :: Console",
         "Operating System :: MacOS :: MacOS X",
@@ -119,9 +122,9 @@
             'twine',
             'setuptools',
 
-            # Sphinx packages
-            "sphinx==5.0.2",
-            "docutils==0.18.1",
+            # sphinx packages
+            "sphinx==6.0.0",
+            "docutils==0.19",
             "sphinx-rtd-theme",
             "sphinx-argparse",
             "sphinx-tabs",
diff --git a/sierra/core/graphs/heatmap.py b/sierra/core/graphs/heatmap.py
index 5559a558..0fbf5c09 100755
--- a/sierra/core/graphs/heatmap.py
+++ b/sierra/core/graphs/heatmap.py
@@ -211,7 +211,7 @@ def generate(self) -> None:
         # Scaffold graph. We can use either dataframe for setting the graph
         # size; we assume they have the same dimensions.
         #
-        fig, axes = plt.subplots(ncols=2)
+        fig, axes = plt.subplots(nrows=1, ncols=2)
         Heatmap.set_graph_size(dfs[0], fig)
 
         y = np.arange(len(dfs[0].columns))
diff --git a/sierra/core/graphs/stacked_line_graph.py b/sierra/core/graphs/stacked_line_graph.py
index e195b544..a866afe3 100755
--- a/sierra/core/graphs/stacked_line_graph.py
+++ b/sierra/core/graphs/stacked_line_graph.py
@@ -222,7 +222,9 @@ def _read_stats(self) -> tp.Dict[str, pd.DataFrame]:
 
         return dfs
 
-    def _read_models(self) -> tp.Tuple[pd.DataFrame, tp.List[str]]:
+    # 2024/09/13 [JRH]: The union is for compatability with type checkers in
+    # python {3.8,3.11}.
+    def _read_models(self) -> tp.Tuple[pd.DataFrame, tp.Union[tp.List[str], tp.List[bytes]]]:
         if self.model_root is not None:
             model_fpath = self.model_root / \
                 (self.input_stem + config.kModelsExt['model'])
diff --git a/sierra/core/graphs/summary_line_graph.py b/sierra/core/graphs/summary_line_graph.py
index fafa8efd..48f3eb27 100755
--- a/sierra/core/graphs/summary_line_graph.py
+++ b/sierra/core/graphs/summary_line_graph.py
@@ -332,7 +332,9 @@ def _read_bw_stats(self) -> tp.Dict[str, tp.List[pd.DataFrame]]:
 
         return dfs
 
-    def _read_models(self) -> tp.Tuple[pd.DataFrame, tp.List[str]]:
+    # 2024/09/13 [JRH]: The union is for compatability with type checkers in
+    # python {3.8,3.11}.
+    def _read_models(self) -> tp.Tuple[pd.DataFrame, tp.Union[tp.List[str], tp.List[bytes]]]:
         if self.model_root is None:
             return (None, [])
 
diff --git a/sierra/core/pipeline/stage3/statistics_calculator.py b/sierra/core/pipeline/stage3/statistics_calculator.py
index 12150d1e..6f8b25c9 100755
--- a/sierra/core/pipeline/stage3/statistics_calculator.py
+++ b/sierra/core/pipeline/stage3/statistics_calculator.py
@@ -233,7 +233,7 @@ def __call__(self, exp_output_root: pathlib.Path) -> None:
                                         r'\d+')
 
         runs = list(exp_output_root.iterdir())
-        assert(all(re.match(pattern, r.name) for r in runs)),\
+        assert (all(re.match(pattern, r.name) for r in runs)), \
             f"Extra files/not all dirs in '{exp_output_root}' are exp runs"
 
         # Maps (unique .csv stem, optional parent dir) to the averaged dataframe
@@ -299,7 +299,7 @@ def _gather_item_from_sims(self,
             reader = storage.DataFrameReader(self.gather_opts['storage_medium'])
             df = reader(item_path, index_col=False)
 
-            if df.dtypes[0] == 'object':
+            if df.dtypes.iloc[0] == 'object':
                 df[df.columns[0]] = df[df.columns[0]].apply(lambda x: float(x))
 
             if item not in gathered:
@@ -373,7 +373,7 @@ def _verify_exp_outputs_pairwise(self,
                                   str(path1))
                 continue
 
-            assert (utils.path_exists(path1) and utils.path_exists(path2)),\
+            assert (utils.path_exists(path1) and utils.path_exists(path2)), \
                 f"Either {path1} or {path2} does not exist"
 
             # Verify both dataframes have same # columns, and that
@@ -385,15 +385,15 @@ def _verify_exp_outputs_pairwise(self,
             assert (len(df1.columns) == len(df2.columns)), \
                 (f"Dataframes from {path1} and {path2} do not have "
                  "the same # columns")
-            assert(sorted(df1.columns) == sorted(df2.columns)),\
+            assert (sorted(df1.columns) == sorted(df2.columns)), \
                 f"Columns from {path1} and {path2} not identical"
 
             # Verify the length of all columns in both dataframes is the same
             for c1 in df1.columns:
-                assert(all(len(df1[c1]) == len(df1[c2]) for c2 in df1.columns)),\
+                assert (all(len(df1[c1]) == len(df1[c2]) for c2 in df1.columns)), \
                     f"Not all columns from {path1} have same length"
 
-                assert(all(len(df1[c1]) == len(df2[c2]) for c2 in df1.columns)),\
+                assert (all(len(df1[c1]) == len(df2[c2]) for c2 in df1.columns)), \
                     (f"Not all columns from {path1} and {path2} have "
                      "the same length")
 
diff --git a/sierra/core/pipeline/stage4/graph_collator.py b/sierra/core/pipeline/stage4/graph_collator.py
index 91a977ef..0717daf9 100755
--- a/sierra/core/pipeline/stage4/graph_collator.py
+++ b/sierra/core/pipeline/stage4/graph_collator.py
@@ -124,7 +124,7 @@ def _collate_exp(self,
 
             data_df = storage.DataFrameReader('storage.csv')(csv_ipath)
 
-            assert target['col'] in data_df.columns.values,\
+            assert target['col'] in data_df.columns.values, \
                 "{0} not in columns of {1}".format(target['col'],
                                                    target['src_stem'] + stat.df_ext)
 
@@ -221,7 +221,7 @@ def _collate_exp(self,
 
             data_df = storage.DataFrameReader('storage.csv')(csv_ipath)
 
-            assert target['col'] in data_df.columns.values,\
+            assert target['col'] in data_df.columns.values, \
                 "{0} not in columns of {1}, which has {2}".format(target['col'],
                                                                   csv_ipath,
                                                                   data_df.columns)
@@ -238,10 +238,11 @@ def _collate_exp(self,
             # in sequence, to generate a SEQUENCE of 2D dataframes.
             for row in data_df[target['col']].index:
                 if row in stat.df_seq.keys():
-                    stat.df_seq[row].loc[xlabel][ylabel] = data_df[target['col']][row]
+                    stat.df_seq[row].loc[xlabel][ylabel] = data_df.loc[row,
+                                                                       target['col']]
                 else:
                     df = pd.DataFrame(columns=stat.ylabels, index=stat.xlabels)
-                    df.loc[xlabel][ylabel] = data_df[target['col']][row]
+                    df.loc[xlabel][ylabel] = data_df.loc[row, target['col']]
                     stat.df_seq[row] = df
 
 
diff --git a/sierra/core/startup.py b/sierra/core/startup.py
index 977d84c9..ecb7fb58 100644
--- a/sierra/core/startup.py
+++ b/sierra/core/startup.py
@@ -74,8 +74,8 @@ def _linux_pkg_checks() -> None:
 
     dist = distro.id()
     os_info = distro.os_release_info()
-    if any(candidate in os_info['id_like'] for candidate in ['debian',
-                                                             'ubuntu']):
+    if any(candidate in os_info['id'] for candidate in ['debian',
+                                                        'ubuntu']):
         _apt_pkg_checks(dist)
     else:
         logging.warning(("Unknown Linux distro '%s' detected: skipping package "
diff --git a/sierra/version.py b/sierra/version.py
index d4be2b36..1124d027 100644
--- a/sierra/version.py
+++ b/sierra/version.py
@@ -9,4 +9,4 @@
 
 # Project packages
 
-__version__ = "1.3.6"
+__version__ = "1.3.10"