diff --git a/.github/workflows/bom-test.yaml b/.github/workflows/bom-test.yaml
new file mode 100644
index 0000000..6e6fa85
--- /dev/null
+++ b/.github/workflows/bom-test.yaml
@@ -0,0 +1,76 @@
+
+name: HIL tests
+on:
+  workflow_dispatch:
+    inputs:
+      distinct_id:
+        description: "Run identifier"
+        required: false
+      reservation_name:
+        required: false
+        description: "Reservation Name"
+        type: string
+      hold_reservation:
+        description: "Hold Testbed Reservation"
+        required: false
+        type: boolean
+      depthai_version:
+        description: "DepthAI version to test against (e.g., 3.3.0)"
+        required: true
+        type: string   
+      additional_options:
+        description: "Additional options:"
+        required: false
+        type: string
+
+env:
+  DISTINCT_ID: ${{ github.event.inputs.distinct_id }}
+  DEPTHAI_VERSION: ${{ github.event.inputs.depthai_version }}
+  HIL_FRAMEWORK_TOKEN: ${{ secrets.HIL_FRAMEWORK_TOKEN }}
+  HUBAI_API_KEY: ${{ secrets.HUBAI_API_KEY }}
+
+jobs:
+  id:
+    name: Workflow ID Provider
+    runs-on: ubuntu-latest
+    steps:
+      - name: echo distinct ID ${{ env.DISTINCT_ID }}
+        run: echo $DISTINCT_ID
+  BOM-test:
+    runs-on: ["self-hosted", "testbed-runner"]
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Run tests
+        # yamllint disable rule:line-length
+        run: |
+          pip install hil-framework --upgrade \
+          --index-url "https://__token__:$HIL_FRAMEWORK_TOKEN@gitlab.luxonis.com/api/v4/projects/213/packages/pypi/simple"
+
+          if [[ -n "${{ github.event.inputs.reservation_name }}" ]]; then
+            RESERVATION_OPTION="--reservation-name ${{ github.event.inputs.reservation_name }}"
+          else
+            export RESERVATION_NAME="https://github.com/$GITHUB_REPOSITORY/actions/runs/$GITHUB_RUN_ID#modelconverter"
+            RESERVATION_OPTION="--reservation-name $RESERVATION_NAME"
+          fi
+
+          if [[ "${{ github.event.inputs.hold_reservation }}" == 'true' ]]; then
+            HOLD_RESERVATION="--hold-reservation"
+          fi
+
+          if [[ -n "${{ github.event.inputs.additional_options }}" ]]; then
+            ADDITIONAL_OPTIONS="${{ github.event.inputs.additional_options }}"
+          fi
+
+          if [[ "$DEPTHAI_VERSION" =~ ^3\.[0-9]{1,2}\.[0-9]{1,2}$ ]]; then
+            DEPTHAI_VERSION_CHECKED="$DEPTHAI_VERSION"
+          fi
+
+          exec hil_runner \
+            --models "oak4_pro or oak4_d or oak4_s" \
+            $HOLD_RESERVATION \
+            --wait \
+            $ADDITIONAL_OPTIONS \
+            $RESERVATION_OPTION  \
+            --sync-workspace --rsync-args="--exclude=venv"\
+            --commands "cd /tmp/modelconverter &&  ./tests/test_benchmark/run_hil_tests.sh  $HUBAI_API_KEY $HIL_FRAMEWORK_TOKEN $DEPTHAI_VERSION_CHECKED"
diff --git a/tests/test_benchmark/__init__.py b/tests/test_benchmark/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/tests/test_benchmark/benchmark_targets.json b/tests/test_benchmark/benchmark_targets.json
new file mode 100644
index 0000000..6c359a6
--- /dev/null
+++ b/tests/test_benchmark/benchmark_targets.json
@@ -0,0 +1,29 @@
+{
+  "rvc4": {
+    "luxonis/yolov6-nano:r2-coco-512x288": {
+      "expected_fps": 750.00,
+      "tolerance_low": 0.10,
+      "tolerance_high": 0.30
+    },
+    "luxonis/yolov8-instance-segmentation-nano:coco-512x288": {
+      "expected_fps": 554.68,
+      "tolerance_low": 0.10,
+      "tolerance_high": 0.30
+    },
+    "luxonis/yolov8-nano-pose-estimation:coco-512x288": {
+      "expected_fps": 609.11,
+      "tolerance_low": 0.10,
+      "tolerance_high": 0.30
+    },
+    "luxonis/fastsam-s:512x288": {
+      "expected_fps": 475.68,
+      "tolerance_low": 0.10,
+      "tolerance_high": 0.30
+    },
+    "luxonis/deeplab-v3-plus:512x288": {
+      "expected_fps": 339.42,
+      "tolerance_low": 0.10,
+      "tolerance_high": 0.30
+    }
+  }
+}
diff --git a/tests/test_benchmark/conftest.py b/tests/test_benchmark/conftest.py
new file mode 100644
index 0000000..9d91a9c
--- /dev/null
+++ b/tests/test_benchmark/conftest.py
@@ -0,0 +1,36 @@
+import os
+
+import pytest
+
+
+def pytest_addoption(parser: pytest.Parser) -> None:
+    parser.addoption(
+        "--device-ip",
+        action="store",
+        default=None,
+        help="IP address of the target device.",
+    )
+    parser.addoption(
+        "--benchmark-target",
+        action="store",
+        default="rvc4",
+        help="Target platform to benchmark (default: rvc4).",
+    )
+
+
+def pytest_configure(config: pytest.Config) -> None:
+    if not os.environ.get("HUBAI_API_KEY"):
+        pytest.exit(
+            "HUBAI_API_KEY environment variable is not set.",
+            returncode=1,
+        )
+
+
+@pytest.fixture
+def device_ip(request: pytest.FixtureRequest) -> str | None:
+    return request.config.getoption("--device-ip")
+
+
+@pytest.fixture
+def benchmark_target(request: pytest.FixtureRequest) -> str:
+    return request.config.getoption("--benchmark-target")
diff --git a/tests/test_benchmark/run_hil_tests.sh b/tests/test_benchmark/run_hil_tests.sh
new file mode 100755
index 0000000..e0ae2f0
--- /dev/null
+++ b/tests/test_benchmark/run_hil_tests.sh
@@ -0,0 +1,44 @@
+#!/usr/bin/env bash
+
+set -e  # Exit immediately if a command fails
+
+# Check if required arguments were provided
+if [ -z "$1" ] || [ -z "$2" ] || [ -z "$3" ]; then
+  echo "Usage: $0 <HUBAI_API_KEY> <PAT_TOKEN> <DAI_VERSION>"
+  exit 1
+fi
+
+# Export variables from input arguments
+export HUBAI_API_KEY="$1"
+export PAT_TOKEN="$2"
+export DEPTHAI_VERSION="$3"
+
+# Navigate to project directory
+cd /tmp/modelconverter
+
+# Create virtual environment
+python3 -m venv venv
+
+# Activate virtual environment
+source venv/bin/activate
+
+# Install dependencies
+pip install -r requirements.txt
+pip install pytest
+
+pip install hil-framework --upgrade \
+  --index-url "https://__token__:$PAT_TOKEN@gitlab.luxonis.com/api/v4/projects/213/packages/pypi/simple" \
+  > /dev/null
+
+pip install --upgrade \
+  --extra-index-url "https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local/" \
+  --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-release-local \
+  "depthai==${DEPTHAI_VERSION}"
+
+# Extract hostname of first rvc4 device
+hostname=$(hil_camera -t "$HIL_TESTBED" -n test all info -j \
+  | jq -r '.[] | select(.platform=="rvc4") | .hostname' \
+  | head -n1)
+
+# Run tests
+pytest -s -v tests/test_benchmark/ --device-ip "$hostname"
\ No newline at end of file
diff --git a/tests/test_benchmark/test_benchmark_regression.py b/tests/test_benchmark/test_benchmark_regression.py
new file mode 100644
index 0000000..bcd91b6
--- /dev/null
+++ b/tests/test_benchmark/test_benchmark_regression.py
@@ -0,0 +1,74 @@
+import json
+from pathlib import Path
+
+import pytest
+
+from modelconverter.packages import get_benchmark
+from modelconverter.utils.types import Target
+
+TARGETS_FILE = Path(__file__).parent / "benchmark_targets.json"
+
+_targets_data = json.loads(TARGETS_FILE.read_text())
+
+
+def _model_slugs(target: str) -> list[str]:
+    return list(_targets_data.get(target, {}).keys())
+
+
+def _model_id(slug: str) -> str:
+    """Take out the `luxonis` and use the remainder of the slug to name
+    the test."""
+    return slug.rsplit("/", 1)[-1]
+
+
+@pytest.mark.parametrize(
+    "model_slug",
+    _model_slugs("rvc4"),
+    ids=[_model_id(s) for s in _model_slugs("rvc4")],
+)
+def test_benchmark_fps(
+    model_slug: str,
+    device_ip: str | None,
+    benchmark_target: str,
+) -> None:
+    model_config = _targets_data[benchmark_target][model_slug]
+    expected_fps = model_config["expected_fps"]
+
+    if expected_fps is None:
+        pytest.skip(
+            f"No expected_fps set for {model_slug}."
+            "Establish a baseline and add it to benchmark_targets.json."
+        )
+
+    target_enum = Target(benchmark_target)
+
+    bench = get_benchmark(target_enum, model_slug)
+    configuration = {
+        **bench.default_configuration,
+        "power_benchmark": False,
+        "dsp_benchmark": False,
+    }
+    if device_ip is not None:
+        configuration["device_ip"] = device_ip
+
+    result = bench.benchmark(configuration)
+    actual_fps = result.fps
+
+    tolerance_low = model_config["tolerance_low"]
+    tolerance_high = model_config["tolerance_high"]
+    fps_min = expected_fps * (1 - tolerance_low)
+    fps_max = expected_fps * (1 + tolerance_high)
+
+    deviation_pct = ((actual_fps - expected_fps) / expected_fps) * 100
+
+    print(
+        f"Benchmark result for {model_slug}: "
+        f"actual={actual_fps:.2f} FPS, expected={expected_fps:.2f} FPS. "
+    )
+
+    assert fps_min <= actual_fps <= fps_max, (
+        f"FPS regression for {model_slug}: "
+        f"actual={actual_fps:.2f}, expected={expected_fps:.2f} "
+        f"(deviation: {deviation_pct:+.1f}%, "
+        f"allowed range: [{fps_min:.2f}, {fps_max:.2f}])"
+    )