diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 0c01fcf..4b136fd 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -14,7 +14,7 @@ on:
 env:
     #TODO change with first release after this commit
     BipedalLocomotionFramework_TAG: c1cb3fa3329cae7515de6d453bc099dde2cd0645
-
+    action-restore-cache: 'true'
 jobs:
     build:
         name: '[${{matrix.os}}@${{matrix.build_type}}]'
@@ -26,7 +26,12 @@ jobs:
             fail-fast: false
                 
         steps:
-        - uses: actions/checkout@v2
+        - uses: actions/checkout@v3
+
+        - name: Get current day
+          shell: bash -l {0}
+          run: |
+            echo "DATE=$(date +'%Y-%m-%d')" >> $GITHUB_ENV
 
         # Use conda for main dependencies
         - uses: conda-incubator/setup-miniconda@v2
@@ -50,19 +55,38 @@ jobs:
         # ============
         # DEPENDENCIES
         # ============
-
+        - name: Restore cached conda based dependencies
+          if: ${{ env.action-restore-cache == 'true' }}
+          uses: actions/cache/restore@v3
+          with:
+            path: ${{ env.CONDA }}/envs/test
+            key: ${{ matrix.os }}-conda-${{ hashFiles('.github/workflows/conda-deps.yml') }}-${{ env.DATE }}
+          id: cache-restore-conda-deps
+        
         - name: Dependencies (using conda)
           shell: bash -l {0}
+          if: steps.cache-restore-conda-deps.outputs.cache-hit != 'true'
           run: |
-            # Compilation related dependencies 
-            mamba install cmake compilers make ninja pkg-config
-            # Actual dependencies
-            mamba install yarp idyntree
-            #TODO remove these one once blf is installed with conda
-            mamba install spdlog
-             
-        - name: Source-based Dependencies
-          if: steps.cache-source-deps.outputs.cache-hit != 'true'
+            mamba env update -f .github/workflows/conda-deps.yml
+          
+        - name: Cache conda based dependencies
+          if: ${{ steps.cache-restore-conda-deps.outputs.cache-hit != 'true' }}
+          uses: actions/cache/save@v3
+          with:
+            path: ${{ env.CONDA }}/envs/test
+            key: ${{ matrix.os }}-conda-${{ hashFiles('.github/workflows/conda-deps.yml') }}-${{ env.DATE }}
+          id: cache-save-conda-deps
+        
+        - name: Restore cached source-based dependencies
+          if: ${{ env.action-restore-cache == 'true' && steps.cache-restore-conda-deps.outputs.cache-hit != 'true' }}
+          uses: actions/cache/restore@v3
+          with:
+            path: ${{env.GITHUB_WORKSPACE}}/install/deps
+            key: ${{ matrix.os }}-${{ matrix.build_type }}-source-${{env.BipedalLocomotionFramework_TAG}}-${{ env.DATE }}
+          id: cache-restore-source-deps
+
+        - name: Source-based dependencies
+          if: ${{ steps.cache-restore-conda-deps.outputs.cache-hit != 'true' || steps.cache-restore-source-deps.outputs.cache-hit != 'true' }}
           shell: bash -l {0}
           run: |
             # bipedal-locomotion-framework
@@ -77,7 +101,17 @@ jobs:
                   -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps
 
             cmake --build . --config ${{matrix.build_type}} --target install
-              
+
+        - name: Cache source-based dependencies
+          if: ${{ steps.cache-restore-source-deps.outputs.cache-hit != 'true' }}
+          uses: actions/cache/save@v3
+          with:
+            path: ${{env.GITHUB_WORKSPACE}}/install/deps
+            key: ${{ matrix.os }}-${{ matrix.build_type }}-source-${{env.BipedalLocomotionFramework_TAG}}-${{ env.DATE }}
+          id: cache-save-source-deps
+            
+
+
         # ===================
         # CMAKE-BASED PROJECT
         # ===================
diff --git a/.github/workflows/conda-deps.yml b/.github/workflows/conda-deps.yml
new file mode 100644
index 0000000..a232488
--- /dev/null
+++ b/.github/workflows/conda-deps.yml
@@ -0,0 +1,12 @@
+#we use the default conda-incubator/setup-miniconda env name 
+name: test
+dependencies:
+  - cmake
+  - compilers
+  - make
+  - ninja
+  - pkg-config
+  - yarp
+  - idyntree
+  - spdlog
+