diff --git a/.github/workflows/action.yml b/.github/workflows/action.yml
index 4861c696c0..785d2b1ed6 100644
--- a/.github/workflows/action.yml
+++ b/.github/workflows/action.yml
@@ -1,6 +1,9 @@
 name: Test all targets
 
-on: [push, pull_request]
+on:
+  push:
+  pull_request:
+  workflow_dispatch:
 
 permissions:
   contents: write
@@ -39,13 +42,10 @@ jobs:
         run: |
             echo "Fetching gh-pages branch"
             git fetch origin gh-pages
-
             echo "Checking out gh-pages branch"
             git checkout gh-pages
-
             echo "Copying data file from gh-pages to cache"
             mkdir -p pages/dev && cp -r dev/* pages/dev/ || { echo "Failed to copy dev folder" ; exit 1; }
-
             echo "Checking out current previous branch"
             git checkout -
       - name: Deploy
@@ -55,18 +55,40 @@ jobs:
           github_token: ${{ secrets.GITHUB_TOKEN }}
           publish_dir: ./pages
 
-  bench:
-    needs: build
+  cross-compile-bench:
+      needs: build
+      if: ${{ github.repository_owner == 'bluerobotics' }}
+      runs-on: ubuntu-latest
+      strategy:
+        matrix:
+          TARGET: [armv7-unknown-linux-gnueabihf]
+      steps:
+      - uses: actions/checkout@master
+      - name: Cross-compile benchmark
+        uses: houseabsolute/actions-rust-cross@v0.0.14
+        with:
+          target: ${{ matrix.TARGET }}
+          args: "bench --no-run --bench bench"
+      - name: Upload benchmark binary
+        uses: actions/upload-artifact@v3
+        with:
+          name: benchmark-binary
+          path: target/${{ matrix.TARGET }}/release/deps/bench-*
+          retention-days: 1
+
+  run-bench:
+    needs: cross-compile-bench
     if: ${{ github.repository_owner == 'bluerobotics' }}
     runs-on: raspbian-armv7-kernel-5.10.33
     steps:
     - uses: actions/checkout@master
-    - uses: dtolnay/rust-toolchain@stable
-    - name: Rust | Cache
-      uses: Swatinem/rust-cache@v2
+    - name: Download benchmark binary
+      uses: actions/download-artifact@v3
       with:
-        prefix-key: "rust-cache"
-        shared-key: "benchmark"
+        name: benchmark-binary
+        path: ./bench-binary
+    - name: Make benchmark executable
+      run: chmod +x ./bench-binary/*
     - name: Get previous benchmark data
       run: |
           echo "Fetching gh-pages branch"
@@ -83,10 +105,12 @@ jobs:
           echo "Copying data file from gh-pages to cache"
           cp dev/cache/benchmark-data.json cache/benchmark-data.json || { echo "Failed to copy data file" ; exit 1; }
 
-          echo "Checking out current preivous branch"
+          echo "Checking out current previous branch"
           git checkout -
-    - name: Cargo Bench
-      run:  cargo bench --jobs 1 --bench bench -- --output-format bencher | tee output.txt || { echo "Benchmark failed"; exit 1; }
+    - name: Run benchmark
+      run: |
+        BENCH_BINARY=$(find ./bench-binary -type f -executable)
+         $BENCH_BINARY --jobs 1 --bench bench -- --output-format bencher | tee output.txt || { echo "Benchmark failed"; exit 1; }
     - name: Compare results & store cached results
       uses: benchmark-action/github-action-benchmark@v1.18.0
       with:
@@ -102,20 +126,14 @@ jobs:
       run: |
         git config user.name "GitHub Actions Bot"
         git config user.email "actions@github.com"
-
         git fetch origin gh-pages
-
         git checkout gh-pages
-
         if [ ! -d "dev/cache" ]; then
           echo "Cache folder does not exist, creating it"
           mkdir -p dev/cache
         fi
-
         cp cache/benchmark-data.json dev/cache/benchmark-data.json
-
         tree cache
-
         git add dev/cache/benchmark-data.json
         git commit -m "Update benchmark-data file"
         git push origin gh-pages
@@ -144,4 +162,4 @@ jobs:
       - name: Publish to crates.io
         uses: katyo/publish-crates@v1
         with:
-          registry-token: ${{ secrets.CARGO_REGISTRY_TOKEN }}
+          registry-token: ${{ secrets.CARGO_REGISTRY_TOKEN }}
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