diff --git a/.github/actions/install_ubuntu_gpu_deps/action.yml b/.github/actions/install_ubuntu_gpu_deps/action.yml
new file mode 100644
index 0000000000..2879fe9abd
--- /dev/null
+++ b/.github/actions/install_ubuntu_gpu_deps/action.yml
@@ -0,0 +1,16 @@
+# This action installs required Ubuntu NVIDIA dependencies.
+# It assumes that `nvidia-smi` is available on the system.
+name: "Install GPU Dependencies"
+runs:
+  using: composite
+  steps:
+  - name: Install GPU Dependencies
+    shell: bash
+    run: |
+      NVIDIA_SMI_OUTPUT=$(nvidia-smi)
+      DRIVER_VERSION=$(echo "$NVIDIA_SMI_OUTPUT" | grep -oP 'Driver Version:\s+\K[\d.]+')
+      MAJOR_VERSION=$(echo "$NVIDIA_SMI_OUTPUT" | grep -oP 'Driver Version:\s+\K\d+')
+      UBUNTU_PACKAGE_SUFFIX="${MAJOR_VERSION}=${DRIVER_VERSION}-0ubuntu1"
+      sudo apt-get update
+      sudo apt-get install -y libnvidia-common-${DRIVER_VERSION}
+      sudo apt-get install -y libnvidia-gl-${DRIVER_VERSION}
diff --git a/.github/workflows/install_and_test.yml b/.github/workflows/install_and_test.yml
index 625640d442..f6f79e1354 100644
--- a/.github/workflows/install_and_test.yml
+++ b/.github/workflows/install_and_test.yml
@@ -64,6 +64,7 @@ jobs:
     - name: CPU info
       run: cat /proc/cpuinfo
     - uses: "./habitat-sim/.github/actions/install_ubuntu_deps"
+    - uses: "./habitat-sim/.github/actions/install_ubuntu_gpu_deps"
     - name: Build, install habitat-sim
       run: |-
         #give cmake ownership to the runner for installation
@@ -78,8 +79,6 @@ jobs:
         pip install -r requirements.txt --progress-bar off
         git submodule update --init --recursive --jobs 8
         python -u setup.py install --build-type "Release" --lto --headless --bullet
-    - name: Debugging with tmate
-      uses: mxschmitt/action-tmate@v3.18
     - name: Download test data
       run: |-
         # Disable clone protection for git lfs