diff --git a/.github/workflows/simulation.yml b/.github/workflows/simulation.yml
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+#
+#  Copyright (c) 2020, The OpenThread Authors.
+#  All rights reserved.
+#
+#  Redistribution and use in source and binary forms, with or without
+#  modification, are permitted provided that the following conditions are met:
+#  1. Redistributions of source code must retain the above copyright
+#     notice, this list of conditions and the following disclaimer.
+#  2. Redistributions in binary form must reproduce the above copyright
+#     notice, this list of conditions and the following disclaimer in the
+#     documentation and/or other materials provided with the distribution.
+#  3. Neither the name of the copyright holder nor the
+#     names of its contributors may be used to endorse or promote products
+#     derived from this software without specific prior written permission.
+#
+#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+#  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+#  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+#  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+#  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+#  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+#  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+#  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+#  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+#  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+#  POSSIBILITY OF SUCH DAMAGE.
+#
+
+name: Simulation
+
+on: [push, pull_request]
+
+jobs:
+
+  cancel-previous-runs:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: rokroskar/workflow-run-cleanup-action@master
+      env:
+        GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
+      if: "github.ref != 'refs/heads/master'"
+
+  cli-ftd:
+    runs-on: ubuntu-18.04
+    env:
+      CFLAGS: -m32
+      CXXFLAGS: -m32
+      LDFLAGS: -m32
+      COVERAGE: 1
+      REFERENCE_DEVICE: 1
+      VIRTUAL_TIME: 1
+    steps:
+    - uses: actions/checkout@v2
+    - name: Bootstrap
+      run: |
+        sudo apt --no-install-recommends install -y g++-multilib
+        python3 -m pip install -r tests/scripts/thread-cert/requirements.txt
+    - name: Build
+      run: |
+        ./bootstrap
+        make -f examples/Makefile-simulation
+    - name: Run
+      run: make -f examples/Makefile-simulation check
+    - name: Codecov
+      uses: codecov/codecov-action@v1
+
+  cli-mtd:
+    runs-on: ubuntu-18.04
+    env:
+      CFLAGS: -m32
+      CXXFLAGS: -m32
+      LDFLAGS: -m32
+      COVERAGE: 1
+      REFERENCE_DEVICE: 1
+      USE_MTD: 1
+      VIRTUAL_TIME: 1
+    steps:
+    - uses: actions/checkout@v2
+    - name: Bootstrap
+      run: |
+        sudo apt --no-install-recommends install -y g++-multilib
+        python3 -m pip install -r tests/scripts/thread-cert/requirements.txt
+    - name: Build
+      run: |
+        ./bootstrap
+        make -f examples/Makefile-simulation
+    - name: Run
+      run: make -f examples/Makefile-simulation check
+    - name: Codecov
+      uses: codecov/codecov-action@v1
+
+  ncp:
+    runs-on: ubuntu-18.04
+    env:
+      CFLAGS: -m32
+      CXXFLAGS: -m32
+      LDFLAGS: -m32
+      COVERAGE: 1
+      NODE_TYPE: ncp-sim
+      PYTHONUNBUFFERED: 1
+      REFERENCE_DEVICE: 1
+      VERBOSE: 1
+      VIRTUAL_TIME: 1
+    steps:
+    - uses: actions/checkout@v2
+    - name: Bootstrap
+      run: |
+        sudo apt --no-install-recommends install -y g++-multilib python3-setuptools
+        python3 -m pip install -r tests/scripts/thread-cert/requirements.txt
+        sudo python3 -m pip install git+https://github.com/openthread/pyspinel
+    - name: Build
+      run: |
+        ./bootstrap
+        make -f examples/Makefile-simulation
+    - name: Run
+      run: make -f examples/Makefile-simulation check
+    - name: Codecov
+      uses: codecov/codecov-action@v1
+
+  posix-cli:
+    runs-on: ubuntu-18.04
+    env:
+      COVERAGE: 1
+      PYTHONUNBUFFERED: 1
+      READLINE: readline
+      REFERENCE_DEVICE: 1
+      VIRTUAL_TIME: 1
+      VIRTUAL_TIME_UART: 1
+    steps:
+    - uses: actions/checkout@v2
+    - name: Bootstrap
+      run: |
+        sudo apt --no-install-recommends install -y libreadline6-dev
+        python3 -m pip install -r tests/scripts/thread-cert/requirements.txt
+    - name: Build
+      run: |
+        ./bootstrap
+        make -f examples/Makefile-simulation
+        make -f src/posix/Makefile-posix
+    - name: Run
+      run: OT_CLI_PATH="$(pwd)/$(ls output/posix/*/bin/ot-cli) -v" RADIO_DEVICE="$(pwd)/$(ls output/*/bin/ot-rcp)" make -f src/posix/Makefile-posix check
+    - name: Codecov
+      uses: codecov/codecov-action@v1
+
+  posix-ncp:
+    runs-on: ubuntu-18.04
+    env:
+      COVERAGE: 1
+      NODE_TYPE: ncp-sim
+      PYTHONUNBUFFERED: 1
+      READLINE: readline
+      REFERENCE_DEVICE: 1
+      VERBOSE: 1
+      VIRTUAL_TIME: 1
+      VIRTUAL_TIME_UART: 1
+    steps:
+    - uses: actions/checkout@v2
+    - name: Bootstrap
+      run: |
+        sudo apt --no-install-recommends install -y libreadline6-dev python3-setuptools
+        python3 -m pip install -r tests/scripts/thread-cert/requirements.txt
+        sudo python3 -m pip install git+https://github.com/openthread/pyspinel
+    - name: Build
+      run: |
+        ./bootstrap
+        make -f examples/Makefile-simulation
+        make -f src/posix/Makefile-posix
+    - name: Run
+      run: OT_NCP_PATH="$(pwd)/$(ls output/posix/*/bin/ot-ncp)" RADIO_DEVICE="$(pwd)/$(ls output/*/bin/ot-rcp)" make -f src/posix/Makefile-posix check
+    - name: Codecov
+      uses: codecov/codecov-action@v1
+
+  posix-pty:
+    runs-on: ubuntu-18.04
+    env:
+      COVERAGE: 1
+    steps:
+    - uses: actions/checkout@v2
+    - name: Bootstrap
+      run: |
+         sudo apt --no-install-recommends install -y socat expect
+         cd /tmp
+         wget https://github.com/obgm/libcoap/archive/bsd-licensed.tar.gz
+         tar xvf bsd-licensed.tar.gz
+         cd libcoap-bsd-licensed
+         ./autogen.sh
+         ./configure --prefix= --exec-prefix=/usr --with-boost=internal --disable-tests --disable-documentation
+         make -j2
+         sudo make install
+    - name: Build
+      run: |
+        ./bootstrap
+        .travis/check-posix-pty build
+    - name: Run
+      run: |
+        .travis/check-posix-pty check
+    - name: Codecov
+      uses: codecov/codecov-action@v1
+
+  posix-pty-daemon:
+    runs-on: ubuntu-18.04
+    env:
+      COVERAGE: 1
+      DAEMON: 1
+    steps:
+    - uses: actions/checkout@v2
+    - name: Bootstrap
+      run: |
+         sudo apt --no-install-recommends install -y socat expect
+         cd /tmp
+         wget https://github.com/obgm/libcoap/archive/bsd-licensed.tar.gz
+         tar xvf bsd-licensed.tar.gz
+         cd libcoap-bsd-licensed
+         ./autogen.sh
+         ./configure --prefix= --exec-prefix=/usr --with-boost=internal --disable-tests --disable-documentation
+         make -j2
+         sudo make install
+    - name: Build
+      run: |
+        ./bootstrap
+        .travis/check-posix-pty build
+    - name: Run
+      run: |
+        .travis/check-posix-pty check
+    - name: Codecov
+      uses: codecov/codecov-action@v1
+
+  toranj-ncp:
+    runs-on: ubuntu-18.04
+    env:
+      COVERAGE: 1
+    steps:
+    - uses: actions/checkout@v2
+    - name: Bootstrap
+      run: |
+        sudo apt --no-install-recommends install -y dbus libdbus-1-dev
+        sudo apt --no-install-recommends install -y autoconf-archive
+        sudo apt --no-install-recommends install -y bsdtar
+        sudo apt --no-install-recommends install -y libtool
+        sudo apt --no-install-recommends install -y libglib2.0-dev
+        sudo apt --no-install-recommends install -y libboost-dev libboost-signals-dev
+
+        git clone --depth=1 --branch=master https://github.com/openthread/wpantund.git
+        cd wpantund
+        ./bootstrap.sh
+        ./configure
+        sudo make -j2
+        sudo make install
+    - name: Build & Run
+      run: top_builddir=$(pwd)/build/toranj ./tests/toranj/start.sh
+    - name: Codecov
+      uses: codecov/codecov-action@v1
+
+  toranj-rcp:
+    runs-on: ubuntu-18.04
+    env:
+      COVERAGE: 1
+      TORANJ_POSIX_RCP_MODEL: 1
+    steps:
+    - uses: actions/checkout@v2
+    - name: Bootstrap
+      run: |
+        sudo apt --no-install-recommends install -y dbus libdbus-1-dev
+        sudo apt --no-install-recommends install -y autoconf-archive
+        sudo apt --no-install-recommends install -y bsdtar
+        sudo apt --no-install-recommends install -y libtool
+        sudo apt --no-install-recommends install -y libglib2.0-dev
+        sudo apt --no-install-recommends install -y libboost-dev libboost-signals-dev
+
+        git clone --depth=1 --branch=master https://github.com/openthread/wpantund.git
+        cd wpantund
+        ./bootstrap.sh
+        ./configure
+        sudo make -j2
+        sudo make install
+    - name: Build & Run
+      run: top_builddir=$(pwd)/build/toranj ./tests/toranj/start.sh
+    - name: Codecov
+      uses: codecov/codecov-action@v1
+
+  thread-1-2:
+    runs-on: ubuntu-18.04
+    env:
+      THREAD_VERSION: 1.2
+      VIRTUAL_TIME: 1
+    steps:
+    - uses: actions/checkout@v2
+    - name: Bootstrap
+      run: |
+        sudo apt --no-install-recommends install -y g++-multilib ninja-build
+        python3 -m pip install -r tests/scripts/thread-cert/requirements.txt
+    - name: Build
+      run: |
+        ./bootstrap
+        ./script/test build
+    - name: Run
+      run: |
+        ./script/test cert_suite tests/scripts/thread-cert/v1_2_*
+    - name: Codecov
+      uses: codecov/codecov-action@v1